Method, device, equipment and readable storage medium for preventing AEB false triggering

Abstract

The present invention provides a method, device, equipment and readable storage medium for preventing AEB from being falsely triggered. The method comprises: when a vehicle is located at an intersection and there is a target vehicle that may collide with the vehicle, calculating the first time required for the vehicle to collide with the target vehicle in a safe area, the second time required for the vehicle to avoid the collision by activating AEB, the third time required for the target vehicle to avoid the collision by braking, the fourth time required for the vehicle to avoid the collision by turning, and the fifth time required for the target vehicle to avoid the collision by turning; comparing the first time with the second time, the third time, the fourth time and the fifth time, respectively, and determining whether the collision can be avoided by non-AEB braking methods according to the comparison results; if it is determined according to the comparison results that the collision can be avoided by non-AEB braking methods, then the vehicle AEB is not activated. Through the present invention, the occurrence of AEB false triggering is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method, device, equipment and readable storage medium for preventing AEB from being falsely triggered. Background Art

[0002] Autonomous Emergency Braking (AEB) is an active automobile safety technology.

[0003] At present, AEB is generally activated when the collision time with the target object is detected to be less than a threshold. However, if the collision time with the target object is detected to be less than the threshold at a certain moment, but the vehicle or the target object can actually avoid the collision by changing its motion state, if AEB is activated according to the existing technology at this time, AEB will be falsely triggered. Summary of the invention

[0004] The main purpose of the present invention is to provide a method, device, equipment and readable storage medium to prevent AEB from being falsely triggered, aiming to solve the technical problem that in the prior art, AEB activation judgment only considers the possibility of collision at the current moment, does not predict the motion state of the vehicle and the target object, and thus causes AEB to be easily falsely triggered.

[0005] In a first aspect, the present invention provides a method for preventing AEB false triggering, the method for preventing AEB false triggering comprising:

[0006] When the vehicle is at an intersection and there is a target vehicle that may collide with the vehicle, the first time required for the vehicle to collide with the target vehicle in the safety zone, the second time required for the vehicle to avoid the collision by activating AEB, the third time required for the target vehicle to avoid the collision by braking, the fourth time required for the vehicle to avoid the collision by turning, and the fifth time required for the target vehicle to avoid the collision by turning;

[0007] comparing the first duration with the second duration, the third duration, the fourth duration, and the fifth duration respectively, and determining whether a collision can be avoided by a non-AEB braking method according to the comparison results;

[0008] If the comparison results determine that the collision can be avoided by non-AEB braking methods, the vehicle's AEB will not be activated.

[0009] Optionally, the step of calculating the second time required for the vehicle to avoid a collision by activating AEB includes:

[0010] According to the current coordinates, current speed and AEB braking acceleration of the vehicle, a first equation for representing the new coordinates of the vehicle with time as an unknown variable is constructed;

[0011] Based on the target vehicle's motion trajectory, a second equation is constructed with time as an unknown variable for characterizing the new coordinates of the target vehicle;

[0012] The first conditional equation, the first equation and the second equation are combined, and the solved value is used as the second time length required for the vehicle to avoid a collision by activating the AEB.

[0013] Optionally, the step of calculating the third time required for the target vehicle to avoid a collision by braking includes:

[0014] According to the current coordinates, current speed and braking acceleration of the target vehicle, a third equation with time as an unknown variable is constructed to characterize the new coordinates of the target vehicle;

[0015] Based on the motion trajectory of the vehicle, a fourth equation is constructed with time as an unknown variable to characterize the new coordinates of the vehicle;

[0016] The second conditional equation, the third equation and the fourth equation are combined, and the solved value is used as the third time required for the target vehicle to avoid collision through braking.

[0017] Optionally, the step of calculating the fourth time required for the vehicle to avoid a collision by turning includes:

[0018] According to the current coordinates, current speed, steering escape acceleration, heading angle and motion curvature of the vehicle, a fifth equation for representing the new coordinates of the vehicle with time as an unknown variable is constructed;

[0019] Based on the target vehicle's motion trajectory, a sixth equation is constructed with time as an unknown variable to characterize the new coordinates of the target vehicle;

[0020] The third conditional equation, the fifth equation and the sixth equation are combined, and the solved value is used as the fourth time length required for the vehicle to avoid collision by turning.

[0021] Optionally, the step of calculating a fifth time required for the target vehicle to avoid a collision by turning includes:

[0022] According to the current coordinates, current speed, steering escape acceleration, heading angle, and motion curvature of the target vehicle, a seventh equation for characterizing the new coordinates of the target vehicle with time as an unknown variable is constructed;

[0023] Based on the motion trajectory of the vehicle, an eighth equation is constructed with time as an unknown variable to characterize the new coordinates of the vehicle;

[0024] The fourth conditional equation, the seventh equation and the eighth equation are combined, and the solved value is used as the fifth time required for the target vehicle to avoid collision by turning.

[0025] Optionally, the step of comparing the first duration with the second duration, the third duration, the fourth duration, and the fifth duration respectively, and determining whether the collision can be avoided by a non-AEB braking method according to the comparison results includes:

[0026] When the first duration is greater than or equal to the second duration, it is determined that the collision can be avoided by a non-AEB braking method;

[0027] When the first duration is less than the second duration, if the first duration is greater than at least one of the third duration, the fourth duration and the fifth duration, it is determined that the collision can be avoided by non-AEB braking methods.

[0028] Optionally, the method for preventing AEB false triggering further includes:

[0029] When the steering wheel angle of the vehicle is greater than or equal to a preset angle, the yaw angular velocity of the vehicle is greater than a preset angular velocity, and the turn signal of the vehicle is turned on, it is determined that the vehicle is located at the intersection.

[0030] In a second aspect, the present invention further provides a device for preventing AEB from being falsely triggered, the device for preventing AEB from being falsely triggered comprising:

[0031] a calculation module, for calculating, when the vehicle is at an intersection and there is a target vehicle that may collide with the vehicle, a first time required for the vehicle to collide with the target vehicle in a safe area, a second time required for the vehicle to avoid the collision by activating AEB, a third time required for the target vehicle to avoid the collision by braking, a fourth time required for the vehicle to avoid the collision by turning, and a fifth time required for the target vehicle to avoid the collision by turning;

[0032] a determination module, configured to compare the first duration with the second duration, the third duration, the fourth duration, and the fifth duration, respectively, and determine whether a collision can be avoided by a non-AEB braking method according to the comparison results;

[0033] The control module is configured to not activate the AEB of the vehicle if it is determined based on the comparison result that the collision can be avoided by non-AEB braking methods.

[0034] In a third aspect, the present invention also provides a device for preventing AEB false triggering, wherein the device for preventing AEB false triggering comprises a processor, a memory, and a program for preventing AEB false triggering stored in the memory and executable by the processor, wherein when the program for preventing AEB false triggering is executed by the processor, the steps of the method for preventing AEB false triggering as described above are implemented.

[0035] In a fourth aspect, the present invention further provides a readable storage medium, on which is stored a program for preventing false triggering of AEB. When the program for preventing false triggering of AEB is executed by a processor, the steps of the method for preventing false triggering of AEB as described above are implemented.

[0036] In the present invention, when the vehicle is located at an intersection and there is a target vehicle that may collide with the vehicle, the first time required for the vehicle to collide with the target vehicle in the safety zone, the second time required for the vehicle to avoid the collision by activating AEB, the third time required for the target vehicle to avoid the collision by braking, the fourth time required for the vehicle to avoid the collision by turning, and the fifth time required for the target vehicle to avoid the collision by turning are calculated; the first time is compared with the second time, the third time, the fourth time, and the fifth time, respectively, and it is determined whether the collision can be avoided by non-AEB braking methods according to the comparison results; if it is determined according to the comparison results that the collision can be avoided by non-AEB braking methods, the vehicle AEB is not activated. Through the present invention, it is determined from multiple time dimensions whether the collision can be avoided by turning or braking the vehicle / target vehicle, so that the vehicle AEB is not activated when the collision can be avoided, that is, by predicting the positions of the vehicle and the target vehicle, the occurrence of AEB false triggering is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic flow chart of a method for preventing AEB from being falsely triggered according to an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a scenario in which the vehicle avoids a collision by activating AEB in an embodiment;

[0039] Figure 3 A schematic diagram of a scenario in which a target vehicle avoids a collision by braking in an embodiment;

[0040] Figure 4 This is a schematic diagram of a scenario in which the vehicle avoids a collision by turning in one embodiment;

[0041] Figure 5 A schematic diagram of a scenario in which a target vehicle avoids a collision by turning in an embodiment;

[0042] Figure 6 A schematic diagram of functional modules of an embodiment of a device for preventing AEB from being falsely triggered according to the present invention;

[0043] Figure 7 The figure is a schematic diagram of the hardware structure of a device for preventing false triggering of AEB involved in an embodiment of the present invention.

[0044] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0046] In a first aspect, an embodiment of the present invention provides a method for preventing false triggering of AEB.

[0047] In one embodiment, referring to Figure 1 , Figure 1 FIG. 1 is a flow chart of an embodiment of a method for preventing AEB from being falsely triggered according to the present invention. Figure 1 As shown, the methods to prevent AEB from being falsely triggered include:

[0048] Step S10, when the vehicle is at an intersection and there is a target vehicle that may collide with the vehicle, calculate a first time required for the vehicle to collide with the target vehicle in a safe area, a second time required for the vehicle to avoid the collision by activating AEB, a third time required for the target vehicle to avoid the collision by braking, a fourth time required for the vehicle to avoid the collision by turning, and a fifth time required for the target vehicle to avoid the collision by turning;

[0049] In this embodiment, whether the vehicle is located at the intersection can be determined based on the vehicle's GPS positioning, for example: determining whether the vehicle's GPS positioning is a preset position (set according to the intersection position), and if so, determining that the vehicle is located at the intersection.

[0050] Whether the vehicle is located at the intersection can be determined based on the vehicle's operating condition, for example, whether the vehicle's operating condition meets the preset operating condition (set according to the operating condition when the vehicle is at the intersection). If so, it is determined that the vehicle is located at the intersection.

[0051] When there is a target vehicle that may collide with the vehicle, the first time required for the vehicle to collide with the target vehicle in the safety zone is calculated. The formula is as follows:

[0052]

[0053] in, is the first duration, x, y are the horizontal and vertical coordinates of the target vehicle in the coordinate system established with the vehicle as the origin, d safe is the preset safety distance, V rel is the relative speed between the host vehicle and the target vehicle.

[0054] Considering that when there is a risk of collision between two vehicles, one of the vehicles can avoid the collision by steering or braking. Therefore, when the vehicle is at an intersection and there is a target vehicle that may collide with the vehicle, the second time required for the vehicle to avoid the collision by activating AEB, the third time required for the target vehicle to avoid the collision by braking, the fourth time required for the vehicle to avoid the collision by steering, and the fifth time required for the target vehicle to avoid the collision by steering are further calculated. The equations are constructed in combination with the vehicle kinematics principle, and then the equations are solved to calculate the second to fifth time periods.

[0055] Further, in one embodiment, the step of calculating the second time required for the vehicle to avoid a collision by activating AEB includes:

[0056] According to the current coordinates, current speed and AEB braking acceleration of the vehicle, a first equation with time as an unknown variable is constructed to characterize the new coordinates of the vehicle; based on the motion trajectory of the target vehicle, a second equation with time as an unknown variable is constructed to characterize the new coordinates of the target vehicle; the first conditional equation, the first equation and the second equation are combined, and the solved value is used as the second time required for the vehicle to avoid a collision by activating AEB.

[0057] In this embodiment, refer to Figure 2 , Figure 2 FIG. 1 is a schematic diagram of a scenario in which the vehicle avoids a collision by activating AEB in an embodiment. Figure 2 As shown, a coordinate system is established with the position of the vehicle as the coordinate origin and the moving direction of the vehicle as the positive direction of the x-axis.

[0058] The vehicle brakes by activating AEB. The current coordinate of the vehicle is (0, 0), the current speed is v, and the AEB braking acceleration is is the preset value, for example 10m / s 2 , then the first equation is:

[0059]

[0060]

[0061] in, The new coordinates of the vehicle after braking by activating AEB.

[0062] like Figure 2 As shown, the target vehicle moves along its motion trajectory, and the second equation is the equation corresponding to its motion trajectory, which is recorded as:

[0063] x'=f1(t)

[0064] y'=f2(t)

[0065] The second equation can be established by referring to the third equation or the seventh equation in the specific implementation mode, except that the braking acceleration or steering escape acceleration in the second equation is the actual value of the target vehicle instead of the set value. The same is true for the following sixth equation.

[0066] The first conditional equation is:

[0067]

[0068]

[0069] Wherein, d and D are the widths of the target vehicle and the host vehicle respectively, and x is the horizontal coordinate of the target vehicle in the coordinate system established with the host vehicle as the coordinate origin.

[0070] By combining the first condition equation, the first equation and the second equation, the value of t can be solved and the solved value is used as the second time required for the vehicle to avoid collision by activating AEB, which is recorded as

[0071] Further, in one embodiment, the step of calculating the third time required for the target vehicle to avoid collision by braking includes:

[0072] According to the current coordinates, current speed and braking acceleration of the target vehicle, a third equation with time as an unknown variable is constructed to characterize the new coordinates of the target vehicle; based on the motion trajectory of the vehicle, a fourth equation with time as an unknown variable is constructed to characterize the new coordinates of the vehicle; the second conditional equation, the third equation and the fourth equation are combined, and the solved value is used as the third time required for the target vehicle to avoid collision through braking.

[0073] In this embodiment, refer to Figure 3 , Figure 3 FIG. 1 is a schematic diagram of a scenario in which a target vehicle avoids a collision by braking in an embodiment. Figure 3 As shown in the figure, a coordinate system is established with the position of the vehicle as the origin and the direction of the vehicle as the positive direction of the x-axis. The current coordinates of the target vehicle are (x, y), the current speed is v', and the braking acceleration is is the preset value, for example 6m / s 2 , then the third equation is:

[0074]

[0075]

[0076] in, is the new coordinate of the target vehicle after braking.

[0077] like Figure 3As shown, the vehicle moves along its motion trajectory. The fourth equation is the equation corresponding to its motion trajectory, which is recorded as:

[0078] X'=f3(t)

[0079] Y'=f4(t)

[0080] The fourth equation can be established by referring to the establishment method of the first equation or the fifth equation in the specific implementation mode, except that the braking acceleration or steering escape acceleration in the second equation is the actual value of the vehicle rather than the set value. The same is true for the eighth equation below.

[0081] The second conditional equation is:

[0082]

[0083] f3(t)-x=L

[0084] Among them, d safe is the preset safety distance, and L is the length of the vehicle.

[0085] By combining the second condition equation, the third equation and the fourth equation, the value of t can be obtained, and the obtained value is used as the third time required for the target vehicle to avoid collision by braking, which is recorded as

[0086] Further, in one embodiment, the step of calculating the fourth time required for the vehicle to avoid a collision by turning includes:

[0087] According to the current coordinates, current speed, steering escape acceleration, heading angle and motion curvature of the vehicle, a fifth equation with time as an unknown variable is constructed to characterize the new coordinates of the vehicle; based on the motion trajectory of the target vehicle, a sixth equation with time as an unknown variable is constructed to characterize the new coordinates of the target vehicle; the third conditional equation, the fifth equation and the sixth equation are combined, and the solved value is used as the fourth time required for the vehicle to avoid collision by turning.

[0088] In this embodiment, refer to Figure 4 , Figure 4 FIG. 1 is a schematic diagram of a scenario in which the vehicle avoids a collision by turning in one embodiment. Figure 4 As shown, a coordinate system is established with the position of the vehicle as the coordinate origin and the moving direction of the vehicle as the positive direction of the x-axis.

[0089] Then, the arc length of the trajectory of the vehicle is:

[0090]

[0091] Among them, l is the arc length of the trajectory of the vehicle moving for t time, v is the current speed of the vehicle, is the vehicle’s steering escape acceleration, is the set value, for example 4m / s 2 .

[0092] According to l and the curvature C of the vehicle's motion, the central angle θ corresponding to the vehicle's steering action is calculated:

[0093] θ=l*C

[0094] Furthermore, the horizontal and vertical coordinates of the center point corresponding to the steering action of the vehicle are calculated according to the heading angle α of the vehicle:

[0095]

[0096]

[0097] Among them, (X, Y) is the current coordinate of the vehicle.

[0098] Finally, the fifth equation is as follows:

[0099]

[0100]

[0101] like Figure 4 As shown, the target vehicle moves along its motion trajectory, and the sixth equation is the equation corresponding to its motion trajectory, which is recorded as:

[0102] x'=f1(t)

[0103] y'=f2(t)

[0104] The third condition equation is:

[0105]

[0106]

[0107] Wherein, d and D are the widths of the target vehicle and the host vehicle respectively, and x is the horizontal coordinate of the target vehicle in the coordinate system established with the host vehicle as the coordinate origin.

[0108] By combining the third condition equation, the fifth equation and the sixth equation, the value of t can be obtained, and the obtained value is used as the fourth time required for the vehicle to avoid collision by turning, which is recorded as

[0109] Further, in one embodiment, the step of calculating the fifth time required for the target vehicle to avoid a collision by turning includes:

[0110] According to the current coordinates, current speed, steering escape acceleration, heading angle and motion curvature of the target vehicle, a seventh equation with time as an unknown variable is constructed to characterize the new coordinates of the target vehicle; based on the motion trajectory of the vehicle, an eighth equation with time as an unknown variable is constructed to characterize the new coordinates of the vehicle; the fourth conditional equation, the seventh equation and the eighth equation are combined, and the solved value is used as the fifth time required for the target vehicle to avoid collision by turning.

[0111] In this embodiment, refer to Figure 5 , Figure 5 FIG. 1 is a schematic diagram of a scenario in which a target vehicle avoids a collision by turning in one embodiment. Figure 5 As shown, a coordinate system is established with the position of the vehicle as the coordinate origin and the moving direction of the vehicle as the positive direction of the x-axis.

[0112] Then, the arc length of the target vehicle's trajectory is:

[0113]

[0114] Where l' is the arc length of the target vehicle's trajectory for t time, v' is the current speed of the target vehicle, is the target vehicle’s steering escape acceleration, is the set value, for example 3m / s 2 .

[0115] According to l' and the motion curvature C' of the target vehicle, the central angle θ' corresponding to the turning action of the target vehicle is calculated:

[0116] θ′=l′*C′

[0117] Furthermore, the horizontal and vertical coordinates of the center point corresponding to the turning action of the target vehicle are calculated according to the heading angle α' of the target vehicle:

[0118]

[0119]

[0120] Among them, (x, y) is the current coordinate of the target vehicle.

[0121] Finally, the seventh equation is obtained as follows:

[0122]

[0123]

[0124] like Figure 5 As shown, the vehicle moves along its motion trajectory. The eighth equation is the equation corresponding to its motion trajectory, which is expressed as:

[0125] X′=f3(t)

[0126] Y′=f4(t)

[0127] The fourth condition equation is:

[0128]

[0129]

[0130] Among them, d and D are the widths of the target vehicle and the vehicle respectively.

[0131] By combining the fourth condition equation, the seventh equation and the eighth equation, the value of t can be obtained, and the obtained value is used as the fifth time required for the target vehicle to avoid collision by turning, which is recorded as

[0132] Step S20, comparing the first duration with the second duration, the third duration, the fourth duration, and the fifth duration, respectively, and determining whether the collision can be avoided by a non-AEB braking method according to the comparison results;

[0133] In this embodiment, it is easy to understand that when the first duration is greater than the second duration, the third duration, the fourth duration or the fifth duration, it indicates that the two vehicles can avoid collision by braking or turning.

[0134] Furthermore, in one embodiment, step S20 includes:

[0135] When the first duration is greater than or equal to the second duration, it is determined that the collision can be avoided by a non-AEB braking method;

[0136] When the first duration is less than the second duration, if the first duration is greater than at least one of the third duration, the fourth duration and the fifth duration, it is determined that the collision can be avoided by non-AEB braking methods.

[0137] Step S30: If it is determined according to the comparison result that the collision can be avoided by non-AEB braking methods, then the AEB of the vehicle is not activated.

[0138] In this embodiment, if it is determined that the collision can be avoided by non-AEB braking methods, the AEB of the vehicle will not be activated, thereby reducing the number of false triggering of AEB.

[0139] In this embodiment, when the vehicle is located at an intersection and there is a target vehicle that may collide with the vehicle, the first time required for the vehicle to collide with the target vehicle in the safety zone, the second time required for the vehicle to avoid the collision by activating AEB, the third time required for the target vehicle to avoid the collision by braking, the fourth time required for the vehicle to avoid the collision by turning, and the fifth time required for the target vehicle to avoid the collision by turning are calculated; the first time is compared with the second time, the third time, the fourth time, and the fifth time, respectively, and it is determined whether the collision can be avoided by non-AEB braking methods according to the comparison results; if it is determined according to the comparison results that the collision can be avoided by non-AEB braking methods, the vehicle AEB is not activated. Through this embodiment, it is determined from multiple time dimensions whether the collision can be avoided by turning or braking the vehicle / target vehicle, so that the vehicle AEB is not activated when the collision can be avoided, that is, by predicting the positions of the vehicle and the target vehicle, the occurrence of AEB false triggering is reduced.

[0140] Furthermore, in one embodiment, the method for preventing AEB false triggering further includes:

[0141] When the steering wheel angle of the vehicle is greater than or equal to a preset angle, the yaw angular velocity of the vehicle is greater than a preset angular velocity, and the turn signal of the vehicle is turned on, it is determined that the vehicle is located at the intersection.

[0142] In this embodiment, considering that the possibility and effect of activating AEB at an intersection are generally greater, firstly, the vehicle is identified as being at an intersection based on the steering wheel angle, yaw angular velocity, and turn signal status of the vehicle. The specific values ​​of the preset angle and the preset angular velocity are set according to the actual situation.

[0143] In a second aspect, an embodiment of the present invention further provides a device for preventing false triggering of AEB.

[0144] In one embodiment, referring to Figure 6 , Figure 6 Schematic diagram of functional modules of an embodiment of a device for preventing AEB from being triggered incorrectly according to the present invention. Figure 6 As shown, the device for preventing AEB from being falsely triggered includes:

[0145] A calculation module 10 is used to calculate, when the vehicle is located at an intersection and there is a target vehicle that may collide with the vehicle, a first time required for the vehicle to collide with the target vehicle in a safe area, a second time required for the vehicle to avoid the collision by activating AEB, a third time required for the target vehicle to avoid the collision by braking, a fourth time required for the vehicle to avoid the collision by turning, and a fifth time required for the target vehicle to avoid the collision by turning;

[0146] a determination module 20, configured to compare the first duration with the second duration, the third duration, the fourth duration, and the fifth duration, respectively, and determine whether a collision can be avoided by a non-AEB braking method according to the comparison results;

[0147] The control module 30 is configured to not activate the AEB of the vehicle if it is determined that the collision can be avoided by a non-AEB braking method according to the comparison result.

[0148] Furthermore, in one embodiment, the calculation module 10 is used to:

[0149] According to the current coordinates, current speed and AEB braking acceleration of the vehicle, a first equation for representing the new coordinates of the vehicle with time as an unknown variable is constructed;

[0150] Based on the target vehicle's motion trajectory, a second equation is constructed with time as an unknown variable for characterizing the new coordinates of the target vehicle;

[0151] The first conditional equation, the first equation and the second equation are combined, and the solved value is used as the second time length required for the vehicle to avoid a collision by activating the AEB.

[0152] Furthermore, in one embodiment, the calculation module 10 is used to:

[0153] According to the current coordinates, current speed and braking acceleration of the target vehicle, a third equation with time as an unknown variable is constructed to characterize the new coordinates of the target vehicle;

[0154] Based on the motion trajectory of the vehicle, a fourth equation is constructed with time as an unknown variable to characterize the new coordinates of the vehicle;

[0155] The second conditional equation, the third equation and the fourth equation are combined, and the solved value is used as the third time required for the target vehicle to avoid collision through braking.

[0156] Furthermore, in one embodiment, the calculation module 10 is used to:

[0157] According to the current coordinates, current speed, steering escape acceleration, heading angle and motion curvature of the vehicle, a fifth equation for representing the new coordinates of the vehicle with time as an unknown variable is constructed;

[0158] Based on the target vehicle's motion trajectory, a sixth equation is constructed with time as an unknown variable to characterize the new coordinates of the target vehicle;

[0159] The third conditional equation, the fifth equation and the sixth equation are combined, and the solved value is used as the fourth time length required for the vehicle to avoid collision by turning.

[0160] Furthermore, in one embodiment, the calculation module 10 is used to:

[0161] According to the current coordinates, current speed, steering escape acceleration, heading angle, and motion curvature of the target vehicle, a seventh equation for characterizing the new coordinates of the target vehicle with time as an unknown variable is constructed;

[0162] Based on the motion trajectory of the vehicle, an eighth equation is constructed with time as an unknown variable to characterize the new coordinates of the vehicle;

[0163] The fourth conditional equation, the seventh equation and the eighth equation are combined, and the solved value is used as the fifth time required for the target vehicle to avoid collision by turning.

[0164] Furthermore, in one embodiment, the determination module 20 is used to:

[0165] When the first duration is greater than or equal to the second duration, it is determined that the collision can be avoided by a non-AEB braking method;

[0166] When the first duration is less than the second duration, if the first duration is greater than at least one of the third duration, the fourth duration and the fifth duration, it is determined that the collision can be avoided by non-AEB braking methods.

[0167] Furthermore, in one embodiment, the device for preventing AEB from being falsely triggered further includes an identification module, which is used to:

[0168] When the steering wheel angle of the vehicle is greater than or equal to a preset angle, the yaw angular velocity of the vehicle is greater than a preset angular velocity, and the turn signal of the vehicle is turned on, it is determined that the vehicle is located at the intersection.

[0169] Among them, the functional implementation of each module in the above-mentioned device for preventing false triggering of AEB corresponds to the steps in the above-mentioned method embodiment for preventing false triggering of AEB, and its functions and implementation processes are no longer repeated here one by one.

[0170] In a third aspect, an embodiment of the present invention provides a device for preventing false triggering of AEB.

[0171] Reference Figure 7 , Figure 7Schematic diagram of the hardware structure of the device for preventing false triggering of AEB involved in the embodiment of the present invention. In the embodiment of the present invention, the device for preventing false triggering of AEB may include a processor 1001 (e.g., a central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as a wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk storage, and the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 7 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0172] Continue to refer to Figure 7 , Figure 7 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a program for preventing AEB false triggering. The processor 1001 may call the program for preventing AEB false triggering stored in the memory 1005 and execute the method for preventing AEB false triggering provided in the embodiment of the present invention.

[0173] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0174] The readable storage medium of the present invention stores a program for preventing AEB false triggering, wherein when the program for preventing AEB false triggering is executed by a processor, the steps of the method for preventing AEB false triggering as described above are implemented.

[0175] Among them, the method implemented when the program for preventing AEB false triggering is executed can refer to the various embodiments of the method for preventing AEB false triggering of the present invention, and will not be repeated here.

[0176] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0177] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0178] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0179] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for preventing AEB from being falsely triggered, characterized in that: The method for preventing AEB from being falsely triggered comprises: When the vehicle is at an intersection and there is a target vehicle that may collide with the vehicle, the first time required for the vehicle to collide with the target vehicle in the safety zone, the second time required for the vehicle to avoid the collision by activating AEB, the third time required for the target vehicle to avoid the collision by braking, the fourth time required for the vehicle to avoid the collision by turning, and the fifth time required for the target vehicle to avoid the collision by turning; comparing the first duration with the second duration, the third duration, the fourth duration, and the fifth duration respectively, and determining whether a collision can be avoided by a non-AEB braking method according to the comparison results; If the comparison result determines that the collision can be avoided by non-AEB braking methods, the vehicle's AEB is not activated; The steps for calculating the second time required for the vehicle to avoid a collision by activating AEB include: According to the current coordinates, current speed and AEB braking acceleration of the vehicle, a first equation for representing the new coordinates of the vehicle with time as an unknown variable is constructed; Based on the target vehicle's motion trajectory, a second equation is constructed with time as an unknown variable for characterizing the new coordinates of the target vehicle; The first conditional equation, the first equation and the second equation are combined, and the solved value is used as the second time length required for the vehicle to avoid a collision by activating the AEB.

2. The method for preventing AEB false triggering according to claim 1, characterized in that: The step of calculating the third time required for the target vehicle to avoid a collision by braking includes: According to the current coordinates, current speed and braking acceleration of the target vehicle, a third equation with time as an unknown variable is constructed to characterize the new coordinates of the target vehicle; Based on the motion trajectory of the vehicle, a fourth equation is constructed with time as an unknown variable to characterize the new coordinates of the vehicle; The second conditional equation, the third equation and the fourth equation are combined, and the solved value is used as the third time required for the target vehicle to avoid collision through braking.

3. The method for preventing AEB false triggering according to claim 1, characterized in that: The steps for calculating the fourth time required for the vehicle to avoid a collision by turning include: According to the current coordinates, current speed, steering escape acceleration, heading angle and motion curvature of the vehicle, a fifth equation for representing the new coordinates of the vehicle with time as an unknown variable is constructed; Based on the target vehicle's motion trajectory, a sixth equation is constructed with time as an unknown variable to characterize the new coordinates of the target vehicle; The third conditional equation, the fifth equation and the sixth equation are combined, and the solved value is used as the fourth time length required for the vehicle to avoid collision by turning.

4. The method for preventing AEB false triggering according to claim 1, characterized in that: The steps of calculating the fifth time required for the target vehicle to avoid a collision by turning include: According to the current coordinates, current speed, steering escape acceleration, heading angle, and motion curvature of the target vehicle, a seventh equation for characterizing the new coordinates of the target vehicle with time as an unknown variable is constructed; Based on the motion trajectory of the vehicle, an eighth equation is constructed with time as an unknown variable to characterize the new coordinates of the vehicle; The fourth conditional equation, the seventh equation and the eighth equation are combined, and the solved value is used as the fifth time required for the target vehicle to avoid collision by turning.

5. The method for preventing AEB false triggering according to claim 1, characterized in that: The step of comparing the first duration with the second duration, the third duration, the fourth duration, and the fifth duration, respectively, and determining whether the collision can be avoided by a non-AEB braking method according to the comparison results comprises: When the first duration is greater than or equal to the second duration, it is determined that the collision can be avoided by a non-AEB braking method; When the first duration is less than the second duration, if the first duration is greater than at least one of the third duration, the fourth duration and the fifth duration, it is determined that the collision can be avoided by non-AEB braking methods.

6. The method for preventing AEB false triggering according to any one of claims 1 to 5, characterized in that: The method for preventing AEB false triggering also includes: When the steering wheel angle of the vehicle is greater than or equal to a preset angle, the yaw angular velocity of the vehicle is greater than a preset angular velocity, and the turn signal of the vehicle is turned on, it is determined that the vehicle is located at the intersection.

7. A device for preventing AEB from being triggered by mistake, characterized in that: The device for preventing AEB from being falsely triggered comprises: a calculation module, for calculating, when the vehicle is at an intersection and there is a target vehicle that may collide with the vehicle, a first time required for the vehicle to collide with the target vehicle in a safe area, a second time required for the vehicle to avoid the collision by activating AEB, a third time required for the target vehicle to avoid the collision by braking, a fourth time required for the vehicle to avoid the collision by turning, and a fifth time required for the target vehicle to avoid the collision by turning; a determination module, configured to compare the first duration with the second duration, the third duration, the fourth duration, and the fifth duration, respectively, and determine whether a collision can be avoided by a non-AEB braking method according to the comparison results; A control module, configured to not activate the AEB of the vehicle if it is determined based on the comparison result that the collision can be avoided by a non-AEB braking method; The second time required for the vehicle to avoid a collision by activating AEB includes: According to the current coordinates, current speed and AEB braking acceleration of the vehicle, a first equation for representing the new coordinates of the vehicle with time as an unknown variable is constructed; Based on the target vehicle's motion trajectory, a second equation is constructed with time as an unknown variable for characterizing the new coordinates of the target vehicle; The first conditional equation, the first equation and the second equation are combined, and the solved value is used as the second time length required for the vehicle to avoid a collision by activating the AEB.

8. A device for preventing AEB from being triggered by mistake, characterized in that: The device for preventing AEB false triggering includes a processor, a memory, and a program for preventing AEB false triggering stored in the memory and executable by the processor, wherein when the program for preventing AEB false triggering is executed by the processor, the steps of the method for preventing AEB false triggering as described in any one of claims 1 to 6 are implemented.

9. A readable storage medium, characterized in that: The readable storage medium stores a program for preventing AEB false triggering, wherein when the program for preventing AEB false triggering is executed by a processor, the steps of the method for preventing AEB false triggering according to any one of claims 1 to 6 are implemented.

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