AEB system control method, device, equipment and readable storage medium

Abstract

The present invention provides an AEB system control method, device, equipment and readable storage medium. The AEB system control method includes: determining the initial installation height and initial detection angle of the perception module in the AEB system, wherein the installation height is the vertical distance between the perception module and the ground, and the detection angle is the angle between the critical point and the ground under the detection angle of the perception module; obtaining the real-time installation height and real-time detection angle of the perception module; calculating the shortened amount of the brakeable distance according to the initial installation height, the initial detection angle, the real-time installation height and the real-time detection angle; adjusting the braking timing of the AEB system according to the shortened amount of the brakeable distance to trigger the emergency braking function in advance. Through the present invention, when the posture of the vehicle body changes, the shortened amount of the brakeable distance caused by the change in the perception range of the perception module is calculated, and the braking timing of the AEB system is adjusted to trigger the emergency braking function in advance, thereby reducing the probability of rear-end collisions and improving the safety of vehicle driving.

Description

Technical Field

[0001] The present invention relates to the field of vehicle body control technology, and in particular to an AEB system control method, device, equipment and readable storage medium. Background Art

[0002] In recent years, with the gradual application of advanced driver assistance systems (ADAS), the AEB (Autonomous Emergency Braking) function has begun to enter the C-NCAP scoring item. Some countries have even made it mandatory to install this system to reduce the occurrence of traffic accidents.

[0003] The AEB system collects information about vehicles, pedestrians, traffic signs, and other targets through the perception module as input for determining the system status. However, due to the complexity and variability of the vehicle's driving environment, such as uphill and downhill, acceleration and deceleration, the vehicle's posture often changes, thereby changing the perception range of the perception module, causing the AEB system to fail to brake in time and causing a rear-end collision. Summary of the invention

[0004] The main purpose of the present invention is to provide an AEB system control method, device, equipment and readable storage medium, aiming to solve the technical problem in the prior art that the AEB system fails to brake in time when the vehicle body posture changes.

[0005] In a first aspect, the present invention provides an AEB system control method, the AEB system control method comprising:

[0006] Determine the initial installation height and initial detection angle of the perception module in the AEB system, wherein the installation height is the vertical distance between the perception module and the ground, and the detection angle is the angle between the threshold and the ground under the detection angle of the perception module;

[0007] Obtaining the real-time installation height and real-time detection angle of the perception module;

[0008] Calculating a shortened braking distance according to the initial installation height, the initial detection angle, the real-time installation height, and the real-time detection angle;

[0009] The braking timing of the AEB system is adjusted according to the shortened braking distance to trigger the emergency braking function in advance.

[0010] Furthermore, in one embodiment, the step of obtaining the real-time installation height and the real-time detection angle of the perception module includes:

[0011] Obtaining a real-time height change and a real-time detection angle change of the perception module;

[0012] Calculate the real-time installation height according to the real-time height change and the initial installation height;

[0013] The real-time detection angle is calculated based on the real-time detection angle change and the initial detection angle.

[0014] Furthermore, in one embodiment, the step of obtaining the real-time height change and the real-time detection angle change of the perception module includes:

[0015] Obtain vehicle load and vehicle acceleration;

[0016] The vehicle load and the vehicle acceleration are substituted into a fitting formula to calculate a real-time height change and a real-time detection angle change of the perception module, wherein the fitting formula is obtained by fitting vehicle dynamic simulation test data.

[0017] Further, in one embodiment, the step of calculating the shortened braking distance according to the initial installation height, the initial detection angle, the real-time installation height and the real-time detection angle comprises:

[0018] Based on the first formula, the shortened braking distance is calculated, and the first formula is:

[0019]

[0020] Wherein, ΔL is the shortening of the braking distance, H is the initial installation height, θ is the initial detection angle, H' is the real-time installation height, and θ' is the real-time detection angle.

[0021] Furthermore, in one embodiment, the step of adjusting the braking timing of the AEB system according to the shortened braking distance to trigger the emergency braking function in advance includes:

[0022] Calculating a braking opportunity compensation amount according to the shortened braking distance and the longitudinal relative speed between the vehicle and the target object;

[0023] The collision time threshold in the AEB system is increased according to the brakeable opportunity compensation amount.

[0024] Furthermore, in one embodiment, before the step of calculating the braking opportunity compensation amount according to the shortened braking distance and the longitudinal relative speed between the vehicle and the target object, the step further includes:

[0025] Obtain vehicle speed through vehicle CAN data;

[0026] Acquire the moving speed of the target object through the perception module;

[0027] The longitudinal relative speed between the vehicle and the target object is calculated according to the vehicle speed and the moving speed of the target object.

[0028] Furthermore, in one embodiment, the step of calculating the braking opportunity compensation amount according to the shortened braking distance and the longitudinal relative speed between the vehicle and the target object comprises:

[0029] Based on the second formula, the braking opportunity compensation amount is calculated, and the second formula is:

[0030]

[0031] Among them, ΔTTC is the braking opportunity compensation, ΔL is the braking distance shortening, V rel is the longitudinal relative velocity between the vehicle and the target.

[0032] In a second aspect, the present invention further provides an AEB system control device, the AEB system control device comprising:

[0033] A determination module, used to determine an initial installation height and an initial detection angle of a perception module in an AEB system, wherein the installation height is a vertical distance between the perception module and the ground, and the detection angle is an angle between the threshold and the ground under the detection angle of the perception module;

[0034] An acquisition module, used to acquire the real-time installation height and real-time detection angle of the perception module;

[0035] A calculation module, configured to calculate a shortened braking distance according to the initial installation height, the initial detection angle, the real-time installation height and the real-time detection angle;

[0036] The adjustment module is used to adjust the braking timing of the AEB system according to the shortened braking distance to trigger the emergency braking function in advance.

[0037] In a third aspect, the present invention further provides an AEB system control device, comprising a processor, a memory, and an AEB system control program stored in the memory and executable by the processor, wherein when the AEB system control program is executed by the processor, the steps of the above-mentioned AEB system control method are implemented.

[0038] In a fourth aspect, the present invention further provides a readable storage medium, on which an AEB system control program is stored, wherein when the AEB system control program is executed by a processor, the steps of the above-mentioned AEB system control method are implemented.

[0039] In the present invention, the initial installation height and initial detection angle of the perception module in the AEB system are determined, wherein the installation height is the vertical distance between the perception module and the ground, and the detection angle is the angle between the critical point and the ground under the detection angle of the perception module; the real-time installation height and real-time detection angle of the perception module are obtained; the shortened amount of the brakeable distance is calculated according to the initial installation height, the initial detection angle, the real-time installation height and the real-time detection angle; the braking timing of the AEB system is adjusted according to the shortened amount of the brakeable distance to trigger the emergency braking function in advance. Through the present invention, when the posture of the vehicle body changes, the shortened amount of the brakeable distance caused by the change in the perception range of the perception module is calculated, and the braking timing of the AEB system is adjusted to trigger the emergency braking function in advance, thereby reducing the probability of rear-end collisions and improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Schematic diagram of a flow chart of an AEB system control method according to an embodiment of the present invention;

[0041] Figure 2 It is a schematic diagram of the principle of real-time detection angle of the computing perception module in one embodiment of the present invention;

[0042] Figure 3 A schematic diagram of the principle of calculating the shortened braking distance in one embodiment of the present invention;

[0043] Figure 4 A schematic diagram of the hardware structure of an AEB system control device in one embodiment of the present invention;

[0044] Figure 5 Schematic diagram of the hardware structure of an AEB system control device in one embodiment of the present invention.

[0045] 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

[0046] 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.

[0047] In a first aspect, an embodiment of the present invention provides an AEB system control method.

[0048] Figure 1 A schematic flow chart of an AEB system control method in one embodiment of the present invention is shown.

[0049] Reference Figure 1 In one embodiment, the AEB system control method includes the following steps:

[0050] S11, determining an initial installation height and an initial detection angle of a perception module in the AEB system, wherein the installation height is a vertical distance between the perception module and the ground, and the detection angle is an angle between the critical point of the perception module and the ground under the detection angle of view;

[0051] In this embodiment, the perception module in the AEB system is a sensor installed on the vehicle body for detecting target information in front of the vehicle. The perception module can be configured as a millimeter-wave radar, a camera, or a fusion of the two. The millimeter-wave radar is good at ranging, and the camera is good at target classification. The fused perception module will combine the advantages of both. Since the perception module is rigidly connected to the vehicle body, changes in the vehicle body posture will cause changes in the posture of the perception module, changing the perception range of the perception module. This embodiment mainly considers the impact of the installation height and detection angle of the perception module on the perception range. At present, the relevant parameters in the AEB system are set on the basis of keeping the initial installation height of the default perception module and the initial detection angle of the default perception module. By determining the initial installation height and initial detection angle of the perception module, the relevant parameters in the AEB system can be modified as a reference in the subsequent steps, so that the AEB system can brake in time.

[0052] S12, obtaining the real-time installation height and real-time detection angle of the perception module;

[0053] In this embodiment, during the actual driving of the vehicle, the installation height and detection angle of the perception module will change relative to the initial values, resulting in a change in the perception range of the perception module. By acquiring the real-time installation height and real-time detection angle of the perception module and combining them with the initial installation height and initial detection angle determined in step S11, the changes in the perception range and their impact on the braking control in the AEB system are analyzed, and corresponding countermeasures are taken to avoid untimely braking of the AEB system.

[0054] Furthermore, in one embodiment, step S12 specifically includes:

[0055] Obtain the real-time height change and real-time detection angle change of the perception module;

[0056] The real-time installation height is calculated based on the real-time height change and the initial installation height;

[0057] The real-time detection angle is calculated based on the real-time detection angle change and the initial detection angle.

[0058] In this embodiment, the real-time installation height is calculated based on the real-time height change and the initial installation height, and the real-time detection angle is calculated based on the real-time detection angle change and the initial detection angle. In related detection technologies, the height change and angle change are easier to obtain, which helps to reduce the difficulty and cost of obtaining the real-time installation height and the real-time detection angle, while improving accuracy.

[0059] Figure 2 A schematic diagram showing the principle of real-time detection angle of a computing perception module in an embodiment of the present invention.

[0060] Reference Figure 2 , Fov (Field of View) represents the detection angle of the perception module, which determines the perception range of the perception module. The detection angle has an upper critical value and a lower critical value. The detection angle is the angle between the lower critical value and the ground, which mainly affects the distance measurement and recognition of targets on the ground. Usually, the center line of the default detection angle is parallel to the ground, so the initial detection angle is half of Fov. That is, θ = Fov / 2. When the perception module presents Figure 2 When the perception module is in a downward posture, the real-time detection angle increases compared to the initial detection angle, and the real-time detection angle is equal to the sum of the initial detection angle and the change in the real-time detection angle, that is, θ'=θ+Δθ. When the perception module is in an upward posture, the real-time detection angle decreases compared to the initial detection angle, and the real-time detection angle is equal to the difference between the initial detection angle and the change in the real-time detection angle, that is, θ'=θ-Δθ.

[0061] Furthermore, in one embodiment, the step of obtaining the real-time height change and the real-time detection angle change of the perception module includes:

[0062] Obtain vehicle load and vehicle acceleration;

[0063] The vehicle load and vehicle acceleration are substituted into the fitting formula to calculate the real-time height change and real-time detection angle change of the perception module, wherein the fitting formula is obtained by fitting the vehicle dynamic simulation test data.

[0064] In this embodiment, the influence of the pitch angle of the vehicle body on the posture of the perception module is mainly considered. Since the perception module is rigidly connected to the vehicle body, the installation height and detection angle of the perception module are affected by the pitch angle of the vehicle body and the installation position of the perception module on the vehicle body. Specifically, when the vehicle body presents a downward posture, the perception module also presents a downward posture, the real-time detection angle increases compared to the initial detection angle, and the installation height of the perception module decreases; when the vehicle body presents an upward posture, the perception module also presents an upward posture, the real-time detection angle decreases compared to the initial detection angle, and the installation height of the perception module increases. In addition, the change in the real-time detection angle is equal to the pitch angle of the vehicle body.

[0065] During vehicle driving, the pitch angle of the vehicle body is mainly affected by the vehicle acceleration and vehicle load. Specifically, when the load is constant, the vehicle body is in a downward pitch attitude during acceleration (acceleration greater than 0), and the vehicle body is in an upward pitch attitude during deceleration (acceleration less than 0). The greater the absolute value of the acceleration, the greater the pitch angle of the vehicle body. Different loads have different effects on the pitch angle of the vehicle body.

[0066] In this embodiment, a vehicle dynamic simulation test is performed to apply different accelerations (e.g., -10 m / s) under different load conditions (empty, half-loaded, and fully loaded). 2 ~7.75m / s 2 , the specific value is related to the vehicle actuator limitation), perform dynamic simulation of the whole vehicle, obtain the vehicle body pitch angle attitude under different loads and different accelerations, and output the height change and detection angle change of the perception module under different loads and different accelerations through the vehicle dynamics model. Fit the data obtained from the dynamic simulation test to obtain the functional relationship between the vehicle load and vehicle acceleration and the height change and detection angle change of the perception module, that is, obtain a fitting formula with vehicle load and vehicle acceleration as input and height change and detection angle change as output. For example, data fitting can use polynomial fitting.

[0067] In this embodiment, during the actual driving process, the vehicle load and the vehicle acceleration are substituted into the fitting formula to calculate the real-time height change and the real-time detection angle change of the perception module. In this way, there is no need to add additional sensors to the vehicle, which helps to save costs. In other embodiments, the real-time height change and the real-time detection angle change can also be obtained by setting appropriate sensors, and the present invention is not limited to this.

[0068] In particular, in vehicles equipped with active suspension systems, suspension height adjustment will also cause the real-time installation height of the sensing module to change. Accordingly, the initial installation height of the sensing module in the AEB system will change synchronously in response to the suspension height adjustment. Therefore, in this embodiment, the real-time detection angle change is not affected by the suspension height adjustment, and only the influence of the vehicle body pitch angle posture needs to be considered.

[0069] S13, calculating the shortening amount of the braking distance according to the initial installation height, the initial detection angle, the real-time installation height and the real-time detection angle;

[0070] In this embodiment, the change in the installation height and detection angle of the sensing module may lead to a shortened braking distance. In the case of a shortened braking distance, the emergency braking function should be triggered in advance to avoid rear-end collisions. In the case of an increase or no change in the braking distance, no additional operation of the AEB system is required. The calculation result of this step is the shortened braking distance. In the case of no shortening of the braking distance, the shortened braking distance required for this step cannot be calculated, and naturally the subsequent steps will not be performed.

[0071] Figure 3 A schematic diagram showing the principle of calculating the shortened braking distance in one embodiment of the present invention is shown.

[0072] Reference Figure 2 and Figure 3In one embodiment, step S13 specifically includes:

[0073] Based on the first formula, the shortened braking distance is calculated. The first formula is:

[0074]

[0075] Wherein, ΔL is the shortening of the braking distance, H is the initial installation height, θ is the initial detection angle, H' is the real-time installation height, and θ' is the real-time detection angle.

[0076] In this embodiment, the default tracking and braking distance L in the AEB system is:

[0077]

[0078] Wherein, H is the initial installation height, θ is the initial detection angle, and S is the longitudinal distance from the installation position of the perception module to the front of the vehicle.

[0079] The real-time tracking and braking distance L' during actual driving is:

[0080]

[0081] Among them, H' is the real-time installation height, θ' is the real-time detection angle, and S is the longitudinal distance from the installation position of the perception module to the front of the vehicle.

[0082] Since the longitudinal distance from the installation position of the perception module to the front of the vehicle remains unchanged, the first formula can be obtained after eliminating the parameters:

[0083]

[0084] Wherein, ΔL is the shortening of the braking distance, H is the initial installation height, θ is the initial detection angle, H' is the real-time installation height, and θ' is the real-time detection angle.

[0085] S14. Adjust the braking timing of the AEB system according to the shortened braking distance to trigger the emergency braking function in advance.

[0086] In this embodiment, the relevant parameters in the AEB system are adjusted based on the shortened braking distance, and the braking timing of the AEB system is adjusted to trigger the emergency braking function in advance, thereby reducing the probability of rear-end collisions and improving vehicle driving safety.

[0087] Furthermore, in one embodiment, step S14 specifically includes:

[0088] The braking opportunity compensation amount is calculated according to the shortened braking distance and the longitudinal relative speed between the vehicle and the target object;

[0089] The collision time threshold in the AEB system is increased according to the amount of brake opportunity compensation.

[0090] In the AEB system, when TTC (Time To Collision) is less than the calibrated threshold, the emergency braking function is triggered. This embodiment triggers the emergency braking function in advance by increasing the collision time threshold. Specifically, the initial collision time threshold is added to the brakeable timing compensation to obtain a new collision time threshold. The brakeable timing compensation is calculated based on the shortened braking distance and the longitudinal relative speed between the vehicle and the target object.

[0091] Specifically, the vehicle speed is obtained through the vehicle CAN data, the moving speed of the target object is obtained through the perception module, and the longitudinal relative speed between the vehicle and the target object is calculated according to the vehicle speed and the moving speed of the target object.

[0092] Further, in one embodiment, the step of calculating the braking opportunity compensation amount according to the shortened braking distance and the longitudinal relative speed between the vehicle and the target object includes:

[0093] Based on the second formula, the braking opportunity compensation amount is calculated, and the second formula is:

[0094]

[0095] Among them, ΔTTC is the braking opportunity compensation, ΔL is the braking distance shortening, V rel is the longitudinal relative velocity between the vehicle and the target.

[0096] Therefore, in this embodiment, the initial installation height and initial detection angle of the perception module in the AEB system are determined, wherein the installation height is the vertical distance between the perception module and the ground, and the detection angle is the angle between the critical point and the ground under the detection angle of the perception module; the real-time installation height and real-time detection angle of the perception module are obtained; the shortened amount of the brakeable distance is calculated according to the initial installation height, the initial detection angle, the real-time installation height and the real-time detection angle; the braking timing of the AEB system is adjusted according to the shortened amount of the brakeable distance to trigger the emergency braking function in advance. Through this embodiment, when the posture of the vehicle body changes, the shortened amount of the brakeable distance caused by the change in the perception range of the perception module is calculated, and the braking timing of the AEB system is adjusted to trigger the emergency braking function in advance, thereby reducing the probability of rear-end collisions and improving the safety of vehicle driving.

[0097] In a second aspect, an embodiment of the present invention further provides an AEB system control device.

[0098] Figure 4 A schematic diagram of the hardware structure of an AEB system control device in one embodiment of the present invention is shown.

[0099] Reference Figure 4 In one embodiment, the AEB system control device includes:

[0100] A determination module 10 is used to determine an initial installation height and an initial detection angle of a perception module in the AEB system, wherein the installation height is a vertical distance between the perception module and the ground, and the detection angle is an angle between the threshold and the ground under the detection angle of the perception module;

[0101] An acquisition module 20 is used to acquire a real-time installation height and a real-time detection angle of the perception module;

[0102] A calculation module 30 is used to calculate the shortened braking distance according to the initial installation height, the initial detection angle, the real-time installation height and the real-time detection angle;

[0103] The adjustment module 40 is used to adjust the braking timing of the AEB system according to the shortened braking distance, so as to trigger the emergency braking function in advance.

[0104] Furthermore, in one embodiment, the acquisition module 20 is used to:

[0105] Obtain the real-time height change and real-time detection angle change of the perception module;

[0106] The real-time installation height is calculated based on the real-time height change and the initial installation height;

[0107] The real-time detection angle is calculated based on the real-time detection angle change and the initial detection angle.

[0108] Furthermore, in one embodiment, the acquisition module 20 is used to:

[0109] Obtain vehicle load and vehicle acceleration;

[0110] The vehicle load and vehicle acceleration are substituted into the fitting formula to calculate the real-time height change and real-time detection angle change of the perception module, wherein the fitting formula is obtained by fitting the vehicle dynamic simulation test data.

[0111] Furthermore, in one embodiment, the calculation module 30 is used to:

[0112] Based on the first formula, the shortened braking distance is calculated. The first formula is:

[0113]

[0114] Wherein, ΔL is the shortening of the braking distance, H is the initial installation height, θ is the initial detection angle, H' is the real-time installation height, and θ' is the real-time detection angle.

[0115] Furthermore, in one embodiment, the adjustment module 40 includes:

[0116] The braking opportunity compensation amount is calculated according to the shortened braking distance and the longitudinal relative speed between the vehicle and the target object;

[0117] The collision time threshold in the AEB system is increased according to the amount of brake opportunity compensation.

[0118] Furthermore, in one embodiment, the adjustment module 40 is further configured to:

[0119] Obtain vehicle speed through vehicle CAN data;

[0120] Obtain the moving speed of the target object through the perception module;

[0121] The longitudinal relative speed between the vehicle and the target object is calculated based on the vehicle speed and the moving speed of the target object.

[0122] Furthermore, in one embodiment, the adjustment module 40 is used to:

[0123] Based on the second formula, the braking opportunity compensation amount is calculated, and the second formula is:

[0124]

[0125] Among them, ΔTTC is the braking opportunity compensation, ΔL is the braking distance shortening, V rel is the longitudinal relative velocity between the vehicle and the target.

[0126] Among them, the functional implementation of each module in the above-mentioned AEB system control device corresponds to the various steps in the above-mentioned AEB system control method embodiment, and its functions and implementation processes are no longer repeated here one by one.

[0127] In a third aspect, an embodiment of the present invention provides an AEB system control device, which may be a device with data processing function, such as a personal computer (PC), a laptop computer, or a server.

[0128] Figure 5 A schematic diagram of the hardware structure of an AEB system control device in an embodiment of the present invention is shown.

[0129] Reference Figure 5In an embodiment of the present invention, the AEB system control device 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. 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) and an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface and 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. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0130] Continue to refer to Figure 5 , Figure 5 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an AEB system control program. The processor 1001 may call the AEB system control program stored in the memory 1005 and execute the AEB system control method provided in the embodiment of the present invention.

[0131] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0132] The readable storage medium of the present invention stores an AEB system control program, wherein when the AEB system control program is executed by a processor, the steps of the AEB system control method described above are implemented.

[0133] Among them, the method implemented when the AEB system control program is executed can refer to the various embodiments of the AEB system control method of the present invention, and will not be repeated here.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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 controlling an AEB system, characterized in that: The AEB system control method comprises: Determine the initial installation height and initial detection angle of the perception module in the AEB system, wherein the installation height is the vertical distance between the perception module and the ground, and the detection angle is the angle between the threshold and the ground under the detection angle of the perception module; Obtaining the real-time installation height and real-time detection angle of the perception module; Calculating a shortened braking distance according to the initial installation height, the initial detection angle, the real-time installation height, and the real-time detection angle; adjusting the braking timing of the AEB system according to the shortened braking distance to trigger the emergency braking function in advance; The step of calculating the shortened braking distance according to the initial installation height, the initial detection angle, the real-time installation height and the real-time detection angle comprises: Based on the first formula, the shortened braking distance is calculated, and the first formula is: Among them, ΔL is the shortening of the braking distance, H is the initial installation height, θ is the initial detection angle, H′ is the real-time installation height, and θ′ is the real-time detection angle.

2. The AEB system control method according to claim 1, characterized in that: The step of obtaining the real-time installation height and real-time detection angle of the perception module includes: Obtaining a real-time height change and a real-time detection angle change of the perception module; Calculate the real-time installation height according to the real-time height change and the initial installation height; The real-time detection angle is calculated based on the real-time detection angle change and the initial detection angle.

3. The AEB system control method according to claim 2, characterized in that: The step of obtaining the real-time height change and the real-time detection angle change of the perception module comprises: Obtain vehicle load and vehicle acceleration; The vehicle load and the vehicle acceleration are substituted into a fitting formula to calculate a real-time height change and a real-time detection angle change of the perception module, wherein the fitting formula is obtained by fitting vehicle dynamic simulation test data.

4. The AEB system control method according to any one of claims 1 to 3, characterized in that: The step of adjusting the braking timing of the AEB system according to the shortened braking distance to trigger the emergency braking function in advance comprises: Calculating a braking opportunity compensation amount according to the shortened braking distance and the longitudinal relative speed between the vehicle and the target object; The collision time threshold in the AEB system is increased according to the brakeable opportunity compensation amount.

5. The AEB system control method according to claim 4, characterized in that: Before the step of calculating the braking opportunity compensation amount according to the shortened braking distance and the longitudinal relative speed between the vehicle and the target object, the step further includes: Obtain vehicle speed through vehicle CAN data; Acquire the moving speed of the target object through the perception module; The longitudinal relative speed between the vehicle and the target object is calculated according to the vehicle speed and the moving speed of the target object.

6. The AEB system control method according to claim 4, characterized in that: The step of calculating the braking opportunity compensation amount according to the shortened braking distance and the longitudinal relative speed between the vehicle and the target object comprises: Based on the second formula, the braking opportunity compensation amount is calculated, and the second formula is: Among them, ΔTTC is the braking opportunity compensation, ΔL is the shortened braking distance, V rel is the longitudinal relative velocity between the vehicle and the target.

7. An AEB system control device, characterized in that: The AEB system control device comprises: A determination module, used to determine an initial installation height and an initial detection angle of a perception module in an AEB system, wherein the installation height is a vertical distance between the perception module and the ground, and the detection angle is an angle between the threshold and the ground under the detection angle of the perception module; An acquisition module, used to acquire the real-time installation height and real-time detection angle of the perception module; The calculation module is used to calculate the shortened braking distance based on a first formula, wherein the first formula is: Among them, ΔL is the shortening of the braking distance, H is the initial installation height, θ is the initial detection angle, H′ is the real-time installation height, and θ′ is the real-time detection angle; The adjustment module is used to adjust the braking timing of the AEB system according to the shortened braking distance to trigger the emergency braking function in advance.

8. An AEB system control device, characterized in that: The AEB system control device includes a processor, a memory, and an AEB system control program stored in the memory and executable by the processor, wherein when the AEB system control program is executed by the processor, the steps of the AEB system control method according to any one of claims 1 to 6 are implemented.

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

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