AEB main target selection method and system

Abstract

The present invention provides an AEB primary target selection method and system. The method comprises: obtaining the position and motion state of the ego vehicle, as well as the position and motion state of a target vehicle; calculating the longitudinal collision time between the ego vehicle and the target vehicle based on the ego vehicle's longitudinal motion state, the target vehicle's longitudinal motion state, and the target vehicle's longitudinal relative position; determining whether the target vehicle and the ego vehicle will collide based on the ego vehicle's lateral motion state, the target vehicle's lateral motion state, the target vehicle's lateral relative position, and the longitudinal collision time; and if it is determined that the target vehicle will collide with the ego vehicle, selecting the target vehicle with the shortest longitudinal collision time as the primary target. This solution not only enables accurate and rapid primary target selection, but also simplifies the calculation process, adapting to the primary target selection needs under complex and unexpected road conditions, and ensuring safe driving.

Description

Technical Field

[0001] The present invention belongs to the field of assisted driving, and in particular relates to an AEB main target selection method and system. Background Art

[0002] With the rapid development of intelligent automotive technology, active safety features have become increasingly important in practice. However, the AEB (Autonomous Emergency Braking) function relies heavily on the selection of a primary target. Improper primary target selection can lead to abnormalities such as false or missed AEB triggering.

[0003] Existing solutions often use the closest target directly in front of the vehicle as the primary target, which can't accurately lock onto the primary target in curves or when the target is crossing. More complex solutions first estimate the vehicle's trajectory and then select the closest target based on that trajectory. However, these solutions lack predictability of the target's motion state, making it difficult to switch the primary target in a timely manner in some unexpected situations. Summary of the Invention

[0004] In view of this, an embodiment of the present invention provides an AEB main target selection method and system, which are used to solve the problem that existing main target selection methods are difficult to accurately select the main target.

[0005] In a first aspect of an embodiment of the present invention, a method for selecting an AEB primary target is provided, comprising:

[0006] Obtain the position and motion status of the vehicle and the target vehicle;

[0007] Calculate the longitudinal collision time between the ego vehicle and the target vehicle based on the longitudinal motion state of the ego vehicle, the longitudinal motion state of the target vehicle, and the longitudinal relative position of the target vehicle;

[0008] Determine whether the target vehicle and the ego vehicle will collide based on the lateral motion state of the ego vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle, and the longitudinal collision time;

[0009] If it is determined that the target vehicle will collide with the ego vehicle, the target vehicle with the smallest longitudinal collision time is selected as the main target.

[0010] In a second aspect of an embodiment of the present invention, a system for selecting an AEB primary target is provided, comprising:

[0011] The acquisition module is used to obtain the position and motion status of the vehicle and the target vehicle;

[0012] A longitudinal judgment module is used to calculate the longitudinal collision time between the ego vehicle and the target vehicle based on the longitudinal motion state of the ego vehicle, the longitudinal motion state of the target vehicle, and the longitudinal relative position of the target vehicle;

[0013] The lateral judgment module is used to judge whether the target vehicle and the self-vehicle will collide based on the lateral motion state of the self-vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle, and the longitudinal collision time;

[0014] The selection module is used to select the target vehicle with the smallest longitudinal collision time as the main target if it is determined that the target vehicle will collide with the vehicle.

[0015] In a third aspect of an embodiment of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the steps of the method described in the first aspect of the embodiment of the present invention when executing the computer program.

[0016] In a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method provided in the first aspect of the embodiment of the present invention are implemented.

[0017] In the embodiment of the present invention, based on the motion state and position information of the target vehicle and the ego vehicle, the possibility of collision between the two vehicles is calculated in the horizontal and vertical directions, and the target vehicle with the shortest current collision time is selected as the main target. This not only enables the main target selection to be realized simply and quickly, but also the selection result is accurate and reliable, can adapt to the main target selection requirements in complex traffic scenarios, and can also switch to lock on to the main target in time in emergency scenarios, thereby ensuring the safe driving of the ego vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 A schematic flow chart of an AEB primary target selection method provided by one embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a main target selection scenario provided by one embodiment of the present invention;

[0021] Figure 3 A schematic structural diagram of an AEB primary target selection system provided by one embodiment of the present invention;

[0022] Figure 4 The present invention provides a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] It will be understood that when used in this specification and the appended claims, the term "comprising" indicates the storage of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0025] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0026] The terms "including" and similar expressions in the specification, claims, and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, or apparatus comprising a series of steps or units is not limited to the listed steps or units. Furthermore, the terms "first" and "second" are used to distinguish between different objects and are not intended to describe a specific order.

[0027] See also Figure 1 , a flowchart of an AEB primary target selection method provided by an embodiment of the present invention includes:

[0028] S101, obtaining the position and motion state of the own vehicle and the position and motion state of the target vehicle;

[0029] The vehicle's position is generally the absolute position of the vehicle, which can be obtained using the vehicle's GPS or with the aid of assisted positioning technology. The target vehicle's position can be determined based on the target vehicle's position relative to the vehicle. For example, if the relative distance to the target vehicle is D and the radar line of sight is θ (relative longitudinal direction), the relative lateral and longitudinal distances to the target vehicle can be calculated to obtain the target vehicle's position.

[0030] The target vehicle is a vehicle within a certain range around the vehicle, and can be located in front of, behind, in front of, or behind the vehicle. The vehicle generally detects the target vehicles around the vehicle periodically so as to switch the main target.

[0031] Among them, the relative position of the target vehicle is collected through the laser radar, and the target vehicle's movement speed and acceleration are calculated; the absolute positioning of the vehicle is obtained, and the vehicle's movement speed and acceleration are calculated based on the wheel speed meter.

[0032] The speed and acceleration of the target vehicle can be calculated based on the change in the relative distance of the target vehicle detected by the ego vehicle. Combined with the changes in the speed and acceleration of the ego vehicle, the speed and acceleration of the target vehicle can be accurately calculated.

[0033] The vehicle's speed and speed changes can be calculated based on the wheel speed pulse signal. Compared with other speed detection methods (such as GPS positioning), the vehicle speed and acceleration calculated based on the wheel speed meter are more accurate.

[0034] The system records the position and motion status of the vehicle and the position and motion status of each target vehicle in real time, and calculates the collision possibility of each target vehicle.

[0035] S102, calculating the longitudinal collision time between the ego vehicle and the target vehicle based on the longitudinal motion state of the ego vehicle, the longitudinal motion state of the target vehicle, and the longitudinal relative position of the target vehicle;

[0036] The longitudinal motion of the ego vehicle includes its longitudinal velocity and acceleration, while the longitudinal motion of the target vehicle includes its longitudinal velocity and acceleration. In the longitudinal direction, the longitudinal collision time can be calculated based on the distance between the vehicles, as well as parameters such as vehicle speed and acceleration, using kinematic formulas (the two vehicles may also be parallel).

[0037] For example, the current longitudinal velocity of the ego vehicle is v1, the acceleration is a1, the current longitudinal velocity of the target vehicle is v2, the acceleration is a2, the longitudinal distance between the ego vehicle and the target vehicle is d, and assuming the collision time is t, the distance moved by the ego vehicle in time t is x1, and the distance moved by the target vehicle in time t is x2, then

[0038]

[0039]

[0040] x1=x2+d.

[0041] According to the above formula, the t value can be obtained, which is the longitudinal collision time between the ego vehicle and the target vehicle.

[0042] It should be understood that a longitudinal collision between the ego vehicle and the target vehicle occurs when the ego vehicle and the target vehicle are in the same longitudinal position for a certain period of time. During this period, the ego vehicle and the target vehicle may not have collided yet and may be at the same horizontal level, such as when traveling side by side in adjacent lanes. Therefore, the lateral distance between the ego vehicle and the target vehicle must also be considered. In practice, complex road environments also require consideration of curves. In this case, parameters such as turning radius and heading angle are required to calculate the likelihood of a lateral or longitudinal collision between the ego vehicle and the target vehicle.

[0043] S103, judging whether the target vehicle and the ego vehicle will collide based on the lateral motion state of the ego vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle, and the longitudinal collision time;

[0044] The lateral motion of the ego vehicle includes its lateral velocity and acceleration, while the lateral motion of the target vehicle includes its velocity and acceleration. After determining the longitudinal collision time between the ego vehicle and the target vehicle, the lateral velocity, acceleration, and lateral distance between the ego vehicle and the target vehicle are used to determine whether the two vehicles will collide.

[0045] For example, the current lateral velocity of the ego vehicle is v3, the lateral acceleration is a3, the current lateral velocity of the target vehicle is v4, the lateral acceleration is a4, the lateral distance between the ego vehicle and the target vehicle is d', and the collision time is t. Assuming that the ego vehicle moves laterally within time t by a distance x3 and the target vehicle moves laterally within time t by a distance x4, then

[0046]

[0047]

[0048] According to the above formula, it can be determined whether d=x3+x4 is established. If so, it is determined that the target vehicle and the ego vehicle will collide. If not, it is determined that the target vehicle and the ego vehicle will not collide.

[0049] Among them, the speed, acceleration and other parameters of the target vehicle and the ego vehicle are all vectors, which contain the movement direction information.

[0050] S104: If it is determined that the target vehicle will collide with the ego vehicle, the target vehicle with the shortest longitudinal collision time is selected as the primary target.

[0051] When it is determined that the ego vehicle and the target vehicle will collide, the time when the ego vehicle and the target vehicle collide is obtained, that is, the longitudinal collision time. The collision time between the ego vehicle and each target vehicle is recorded, and after comparison, the target vehicle with the shortest collision time is selected as the main target.

[0052] like Figure 2As shown in the figure, target 2 accelerates to change lanes to the right. Based on the speed and acceleration of target 2 and the horizontal and vertical distances of the ego vehicle, as well as the speed and acceleration of the ego vehicle, it can be determined that target 2 will collide upward in front of the ego vehicle. At this time, target 2 can be used as the main target.

[0053] In this embodiment, based on the motion state parameters and relative distance of the ego vehicle and the target vehicle, it is judged in the horizontal and vertical directions whether the target vehicle and the ego vehicle will collide, and the target vehicle with the shortest collision time is selected as the main target. Not only is the calculation process simple, but the main target can also be selected in a timely and accurate manner, adapting to the target selection needs in complex and sudden scenarios and ensuring vehicle safety.

[0054] In one embodiment, if it is determined that the target vehicle will not collide with the ego vehicle, the vehicle closest to the ego vehicle is selected as the primary target.

[0055] When all surrounding vehicles are judged to be unlikely to collide with the vehicle, such as the speed of the preceding vehicle in the lane is greater than or equal to the vehicle's speed, and there is no lateral offset between vehicles in the lane on one side, the vehicle with the closest lateral distance or the closest longitudinal distance can be selected as the main target vehicle. The specific setting can be made based on the actual situation.

[0056] Specifically, when the lane marking is solid, the closest vehicle in the same lane can be set as the primary target. When the lane marking is dashed and the longitudinal distance between vehicles in the adjacent lane is less than the safe lane change distance, the closest vehicle in front of the vehicle can be set as the target. For complex road conditions, the primary target can be flexibly selected based on actual active safety needs.

[0057] In this embodiment, the likelihood of a collision is determined primarily based on the lateral and longitudinal distances and lateral and longitudinal speeds between the ego vehicle and the target vehicle. If it is determined that no surrounding vehicles will collide with the ego vehicle, the target vehicle can be selected based on its lateral and longitudinal distances. When the same-direction lane marking is solid, the target vehicle closest in longitudinal distance can be selected as the primary target. When the same-direction lane marking is dashed, the target vehicle closest in relative distance can be selected as the primary target based on the lateral offset direction of the target vehicle. For vehicles traveling in different directions, the selection is based on relative distance, depending on the lane marking type. The specific setting can be determined based on the actual scenario and is not further specified here.

[0058] In one embodiment, step S104 further includes:

[0059] Continuously monitor the motion state of the main target. If the main target or the ego vehicle does not take measures to change the motion state and driving trajectory within the normal reaction time range, control the ego vehicle to perform active braking or change the vehicle's driving trajectory.

[0060] For a selected primary target, the active safety system continuously monitors the target and provides warnings to the driver. If, within the safe reaction time, the target vehicle maintains its trajectory and speed, and the driver of the ego vehicle fails to take evasive action, appropriate braking, deceleration, driving along the lane, or a temporary lane change can be implemented, all while ensuring the safety of the ego vehicle. Before braking, the system must determine the distance and speed of the vehicle behind to avoid rear-end collisions. Before changing lanes, the system must determine whether the change will result in a collision with a vehicle in the adjacent lane.

[0061] Preferably, an active collision avoidance path for the ego vehicle is planned based on the braking distance of the ego vehicle and the positions of obstacles around the ego vehicle, and a corresponding braking control strategy is adopted.

[0062] After selecting the main collision avoidance target, in addition to continuously monitoring the main target vehicle, the ego vehicle also needs to pre-plan a braking strategy and collision avoidance path. That is, based on the relative position, speed, and lane line type of the vehicles around the ego vehicle, it can avoid collision with the target vehicle by slowing down, changing lanes, or driving on the line.

[0063] In actual complex traffic scenarios, it may be difficult to judge the direction of the target vehicle, such as whether the target vehicle will change lanes, whether the target vehicle is overtaking, and other actual intentions. It is time-consuming to plan the active and safe path of the vehicle, and there are many surrounding vehicles. The data processing process is complicated. Deep learning models can be combined to predict the vehicle's driving trajectory and plan the vehicle's driving path through deep learning models.

[0064] In this embodiment, after the primary target is selected, if neither the ego vehicle nor the primary target vehicle takes corresponding avoidance measures, active safety measures are pre-planned to avoid the safety risk of the ego vehicle.

[0065] It should be understood that the sequence numbers of the steps in the above embodiments do not imply a specific order of execution; the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0066] Figure 3 A schematic structural diagram of an AEB primary target selection system provided by an embodiment of the present invention includes:

[0067] An acquisition module 310 is used to acquire the position and motion state of the vehicle and the position and motion state of the target vehicle;

[0068] Among them, the relative position of the target vehicle is collected through the laser radar, and the target vehicle's movement speed and acceleration are calculated; the absolute positioning of the vehicle is obtained, and the vehicle's movement speed and acceleration are calculated based on the wheel speed meter.

[0069] A longitudinal judgment module 320 is used to calculate the longitudinal collision time between the ego vehicle and the target vehicle based on the longitudinal motion state of the ego vehicle, the longitudinal motion state of the target vehicle, and the longitudinal relative position of the target vehicle;

[0070] The longitudinal motion of the ego vehicle includes its longitudinal velocity and acceleration, while the longitudinal motion of the target vehicle includes its longitudinal velocity and acceleration. In the longitudinal direction, the longitudinal collision time can be calculated based on the distance between the vehicles, as well as parameters such as vehicle speed and acceleration, using kinematic formulas (the two vehicles may also be parallel).

[0071] For example, the current longitudinal velocity of the ego vehicle is v1, the acceleration is a1, the current longitudinal velocity of the target vehicle is v2, the acceleration is a2, the longitudinal distance between the ego vehicle and the target vehicle is d, and assuming the collision time is t, the distance moved by the ego vehicle in time t is x1, and the distance moved by the target vehicle in time t is x2, then

[0072]

[0073]

[0074] x1=x2+d.

[0075] According to the above formula, the t value can be obtained, which is the longitudinal collision time between the ego vehicle and the target vehicle.

[0076] It should be understood that a longitudinal collision between the ego vehicle and the target vehicle occurs when the ego vehicle and the target vehicle are in the same longitudinal position for a certain period of time. During this period, the ego vehicle and the target vehicle may not have collided yet and may be at the same horizontal level, such as when traveling side by side in adjacent lanes. Therefore, the lateral distance between the ego vehicle and the target vehicle must also be considered. In practice, complex road environments also require consideration of curves. In this case, parameters such as turning radius and heading angle are required to calculate the likelihood of a lateral or longitudinal collision between the ego vehicle and the target vehicle.

[0077] A lateral judgment module 330 is used to judge whether a collision will occur between the target vehicle and the ego vehicle based on the lateral motion state of the ego vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle, and the longitudinal collision time;

[0078] The lateral motion of the ego vehicle includes its lateral velocity and acceleration, while the lateral motion of the target vehicle includes its velocity and acceleration. After determining the longitudinal collision time between the ego vehicle and the target vehicle, the lateral velocity, acceleration, and lateral distance between the ego vehicle and the target vehicle are used to determine whether the two vehicles will collide.

[0079] For example, the current lateral velocity of the ego vehicle is v3, the lateral acceleration is a3, the current lateral velocity of the target vehicle is v4, the lateral acceleration is a4, the lateral distance between the ego vehicle and the target vehicle is d', and the collision time is t. Assuming that the ego vehicle moves laterally within time t by a distance x3 and the target vehicle moves laterally within time t by a distance x4, then

[0080]

[0081]

[0082] According to the above formula, it can be determined whether d=x3+x4 is established. If so, it is determined that the target vehicle and the ego vehicle will collide. If not, it is determined that the target vehicle and the ego vehicle will not collide.

[0083] Among them, the speed, acceleration and other parameters of the target vehicle and the ego vehicle are all vectors, which contain the movement direction information.

[0084] The selection module 340 is configured to select the target vehicle with the shortest longitudinal collision time as the primary target if it is determined that the target vehicle will collide with the ego vehicle.

[0085] In one embodiment, if it is determined that the target vehicle will not collide with the ego vehicle, the vehicle closest to the ego vehicle is selected as the primary target.

[0086] When all surrounding vehicles are judged to be unlikely to collide with the vehicle, such as the speed of the preceding vehicle in the lane is greater than or equal to the vehicle's speed, and there is no lateral offset between vehicles in the lane on one side, the vehicle with the closest lateral distance or the closest longitudinal distance can be selected as the main target vehicle. The specific setting can be made based on the actual situation.

[0087] Specifically, when the lane marking is solid, the closest vehicle in the same lane can be set as the primary target. When the lane marking is dashed and the longitudinal distance between vehicles in the adjacent lane is less than the safe lane change distance, the closest vehicle in front of the vehicle can be set as the target. For complex road conditions, the primary target can be flexibly selected based on actual active safety needs.

[0088] It should be understood that the determination of whether a collision will occur is based on the lateral and longitudinal distances and lateral and longitudinal speeds between the vehicle and the target vehicle. When it is determined that the surrounding vehicles will not collide with the vehicle, the target vehicle can be selected based on the lateral and longitudinal distances between the vehicle and the target vehicle. When the lane line in the same direction is a solid line, the target vehicle with the closest longitudinal distance can be selected as the main target. When the lane line in the same direction is a dotted line, the target vehicle with the closest relative distance can be selected as the main target based on the lateral offset direction of the target vehicle. For vehicles traveling in different directions, it is necessary to select the relative distance based on the lane line type. The specific setting can be based on the actual scenario and is not further limited here.

[0089] In one embodiment, the selection module 340 further includes:

[0090] The active control module is used to continuously monitor the motion state of the main target. If the main target or the ego vehicle does not take measures to change the motion state and driving trajectory within the normal reaction time range, the ego vehicle will be controlled to actively brake or change the vehicle's driving trajectory.

[0091] Furthermore, the active control module includes:

[0092] The planning control unit is used to plan the active collision avoidance path of the vehicle and adopt corresponding braking control strategies based on the braking distance of the vehicle and the location of obstacles around the vehicle.

[0093] In this embodiment, the vehicle's heading angle and distance are calculated in real time based on the wheel speed sensors on the vehicle's two rear wheels to implement dead reckoning. This not only simplifies the calculation process but also does not require the participation of additional sensing equipment, effectively reducing the cost of dead reckoning and the occupation of the vehicle controller. It can also achieve map-assisted positioning and avoid phenomena such as track drift.

[0094] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0095] A person skilled in the art will understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program. The program can be stored in a computer-readable storage medium. When the program is executed, part or all of the processes in steps S101 to S104 are implemented. The storage medium includes ROM / RAM, etc.

[0096] In one embodiment, Figure 4 As shown, Figure 4 This is a schematic diagram of a structure for selecting a primary target in AEB provided by an embodiment of the present invention. The electronic device may be a vehicle control device. Figure 4 As shown, the electronic device 4 of this embodiment includes at least: a memory 410, a processor 420 and a system bus 430, and the memory 410 includes an executable program 4101 stored thereon. It can be understood by those skilled in the art that Figure 4 The electronic device structure shown in the figure does not constitute a limitation to the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0097] The following combination Figure 4 A detailed introduction to the various components of electronic equipment:

[0098] The memory 410 can be used to store software programs and modules. The processor 420 executes various functional applications and data processing of the electronic device by running the software programs and modules stored in the memory 410. The memory 410 may mainly include a program storage area and a data storage area. The program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device (such as cached data), etc. In addition, the memory 410 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0099] An executable program 4101 for a network request method is included in the memory 410. The executable program 4101 can be divided into one or more modules / units. The one or more modules / units are stored in the memory 410 and executed by the processor 420 to implement active safety primary target selection, etc. The one or more modules / units can be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 4101 in the electronic device 4. For example, the computer program 4101 can be divided into an acquisition module, a longitudinal determination module, a lateral determination module, and a selection module.

[0100] Processor 420 is the control center of the electronic device, connecting the various components of the entire electronic device using various interfaces and lines. By running or executing software programs and / or modules stored in memory 410 and accessing data stored in memory 410, it performs various functions of the electronic device and processes data, thereby monitoring the overall status of the electronic device. Optionally, processor 420 may include one or more processing units; preferably, processor 420 may integrate an application processor and a modem processor, wherein the application processor primarily processes the operating system, application programs, etc., and the modem processor primarily handles wireless communications. It is understood that the modem processor described above may not be integrated into processor 420.

[0101] The system bus 430 connects the various functional components within the computer and can transmit data, address information, and control information. It can be a PCI bus, an ISA bus, a CAN bus, or the like. Instructions from the processor 420 are transmitted to the memory 410 via the bus, and the memory 410 feeds data back to the processor 420. The system bus 430 is responsible for the exchange of data and instructions between the processor 420 and the memory 410. Of course, the system bus 430 can also connect to other devices, such as network interfaces and display devices.

[0102] In an embodiment of the present invention, the executable program executed by the processing 420 included in the electronic device includes:

[0103] Obtain the position and motion status of the vehicle and the target vehicle;

[0104] Calculate the longitudinal collision time between the ego vehicle and the target vehicle based on the longitudinal motion state of the ego vehicle, the longitudinal motion state of the target vehicle, and the longitudinal relative position of the target vehicle;

[0105] Determine whether the target vehicle and the ego vehicle will collide based on the lateral motion state of the ego vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle, and the longitudinal collision time;

[0106] If it is determined that the target vehicle will collide with the ego vehicle, the target vehicle with the smallest longitudinal collision time is selected as the main target.

[0107] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0108] It should be understood that the present disclosure describes numerous technical details, and that its embodiments can be practiced in conjunction with common knowledge without further details. In some embodiments, well-known methods, structures, and techniques are not described in detail to avoid obscuring the understanding of this disclosure. Similarly, it should be understood that, in order to streamline the disclosure and facilitate understanding of one or more of the various inventive aspects, various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of the exemplary embodiments of the present invention. However, this disclosure should not be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the claims, inventive aspects lie in fewer than all the features of the individual embodiments disclosed above. Accordingly, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the present invention. It should be noted that, where not in conflict, the embodiments and features of the embodiments described herein may be combined. The present invention is not limited to any single aspect or embodiment, nor to any combination and / or permutation of such aspects and / or embodiments. Furthermore, each aspect and / or embodiment of the present invention may be used alone or in combination with one or more of the other aspects and / or embodiments thereof.

[0109] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for selecting an AEB primary target, characterized in that: include: Obtain the position and motion status of the vehicle and the target vehicle; Calculate the longitudinal collision time between the ego vehicle and the target vehicle based on the longitudinal motion state of the ego vehicle, the longitudinal motion state of the target vehicle, and the longitudinal relative position of the target vehicle; Determine whether the target vehicle and the ego vehicle will collide based on the lateral motion state of the ego vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle, and the longitudinal collision time; If it is determined that the target vehicle will collide with the ego vehicle, the target vehicle with the smallest longitudinal collision time is selected as the main target; Wherein, if it is determined that the target vehicle will collide with the vehicle, selecting the target vehicle with the shortest longitudinal collision time as the primary target also includes: Continuously monitor the motion state of the main target. If the main target or the ego vehicle does not take measures to change the motion state and driving trajectory within the normal reaction time range, control the ego vehicle to perform active braking or change the vehicle's driving trajectory.

2. The method according to claim 1, characterized in that Determining whether the target vehicle will collide with the vehicle includes: The relative position of the target vehicle is collected through the laser radar, and the speed and acceleration of the target vehicle are calculated; Obtain the absolute positioning of the vehicle and calculate the vehicle's speed and acceleration based on the wheel speedometer.

3. The method according to claim 1, characterized in that The determining whether the target vehicle and the vehicle will collide further includes: If it is determined that the target vehicle will not collide with the ego vehicle, the vehicle with the closest relative distance to the ego vehicle is selected as the main target.

4. The method according to claim 1, wherein Controlling the vehicle to actively brake or change the vehicle's trajectory includes: Based on the braking distance of the ego vehicle and the location of obstacles around the ego vehicle, the ego vehicle's active collision avoidance path is planned and the corresponding braking control strategy is adopted.

5. An AEB primary target selection system, characterized in that: include: The acquisition module is used to obtain the position and motion status of the vehicle and the target vehicle; A longitudinal judgment module is used to calculate the longitudinal collision time between the ego vehicle and the target vehicle based on the longitudinal motion state of the ego vehicle, the longitudinal motion state of the target vehicle, and the longitudinal relative position of the target vehicle; The lateral judgment module is used to judge whether the target vehicle and the self-vehicle will collide based on the lateral motion state of the self-vehicle, the lateral motion state of the target vehicle, the lateral relative position of the target vehicle, and the longitudinal collision time; A selection module is used to select the target vehicle with the smallest longitudinal collision time as the main target if it is determined that the target vehicle will collide with the ego vehicle; Wherein, the selection module further includes: The active control module is used to continuously monitor the motion state of the main target. If the main target or the ego vehicle does not take measures to change the motion state and driving trajectory within the normal reaction time range, the ego vehicle will be controlled to actively brake or change the vehicle's driving trajectory.

6. The system according to claim 5, characterized in that The active control module includes: The planning control unit is used to plan the active collision avoidance path of the vehicle and adopt corresponding braking control strategies based on the braking distance of the vehicle and the location of obstacles around the vehicle.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the AEB main target selection method according to any one of claims 1 to 4 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed, the steps of the AEB main target selection method according to any one of claims 1 to 4 are implemented.

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