A method and system for automatic emergency braking based on millimeter wave radar

Abstract

The present disclosure relates to the technical field of automobile control, and particularly relates to an automatic emergency braking method and system based on a millimeter wave radar. A millimeter wave radar is used to monitor the motion state of a front target in real time; when it is detected that there is a collision risk between the vehicle and the front target, an alarm function is triggered to remind the driver to take measures; when the driver fails to take measures and the collision risk further increases, an emergency braking request is sent, and emergency braking is performed through an ESC system.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of automobile control, in particular to an automatic emergency braking method and system based on millimeter wave radar. BACKGROUND

[0002] Recently, the European Euro-NCAP organization officially released a message that the Autonomous Emergency Braking (AEB) system will be added to the scoring rules in 2014.

[0003] The AEB emergency braking technology will be a bonus item in the 5-star evaluation like the ESP electronic stability system. Volvo, Mercedes-Benz, Volkswagen, Ford, Subaru and other brands have already equipped with the automatic emergency braking system. Using radar, ultrasonic, camera and other devices to detect the road ahead, the vehicle computer will automatically brake in emergency when detecting collision risk. There is no industry standard for this technology, and different brands have different names. For example, Volvo is called City Safety, and Mercedes-Benz is called Pre-safe. At present, the working speed range of these automatic braking systems is generally below 30km / h.

[0004] In the current European Euro-NCAP test rules, whether the AEB system is included in the final score is awarded as a front-end technology award. Euro-NCAP is very optimistic about the help of this technology in reducing the accident rate. In their research, it shows that after equipping AEB, it can reduce 27% of accidents. It is foreseeable that the inclusion of the formal scoring rules in 2014 will promote more manufacturers to develop related technologies.

[0005] Manufacturers such as Volvo and Mercedes-Benz that already have similar technology will also strive to improve the working range and accuracy of automatic braking. Overseas Mazda CX-5, Ford, Honda, and Volkswagen microcars all provide AEB automatic braking technology in high-end or optional parts. It can be seen that AEB will soon become a familiar automobile safety term like ABS and ESP. For the domestic car market, the Euro-NCAP initiative will help improve the safety performance of imported cars and some luxury brand cars. People are looking forward to those ordinary brands can also introduce this technology on domestic models. As for independent brands, this technology is difficult to obtain from third parties, such as Bosch's ESP electronic stability system. There is no doubt that there will be a widening gap in safety performance, which requires a large amount of funds to catch up with overseas advanced technology.

[0006] In summary, an automatic emergency braking method is urgently needed. SUMMARY

[0007] In view of the above problems, the present disclosure provides an automatic emergency braking method and system based on millimeter wave radar.

[0008] In a first aspect, a millimeter wave radar-based automatic emergency braking method, the method comprising:

[0009] Real-time monitoring of the motion state of the front target using a millimeter wave radar;

[0010] When a collision risk between the vehicle and the front target is detected, an alarm function is triggered to remind the driver to take appropriate measures;

[0011] When the driver fails to take measures and the collision risk further increases, an emergency braking request is issued, and emergency braking is performed through the ESC system.

[0012] Specifically, based on the anti-interference characteristics of the millimeter wave radar itself, the millimeter wave radar can stably output the state information of the front target in rain, snow, and fog weather. The millimeter wave radar can provide the following state information of the target: target type, target spatial coordinates, target relative speed, target acceleration, target movement state, target shape, etc.

[0013] The millimeter wave radar emits millimeter wave signals, which are reflected by obstacles. By analyzing the reflected signals, the type, position, relative speed, acceleration, movement state, and target shape of the obstacle are calculated. These information is then transmitted to the automatic emergency braking system.

[0014] According to the collected motion state information, the collision risk between the vehicle and the front target is determined. For example, the collision risk is determined by the relative speed and relative distance. When the relative distance decreases but the relative speed does not change, the collision risk further increases.

[0015] Further, real-time monitoring of the front target using a millimeter wave radar includes:

[0016] The front target includes vehicles, pedestrians, bicycles, and electric vehicles;

[0017] The distance between the vehicle and the front target is monitored in real time by the millimeter wave radar.

[0018] Further, when a collision risk between the vehicle and the front target is detected, an alarm function is triggered to remind the driver to take appropriate measures, including:

[0019] The distance between the vehicle and the front target is monitored by the millimeter wave radar;

[0020] When the distance between the vehicle and the front target is less than S1, the collision risk level is entered, and the driver is reminded to respond through the in-vehicle central control platform using sound and / or images;

[0021] When the distance between the vehicle and the front target is less than S2, the collision danger level 2 is entered, the sound through the vehicle's central platform uses sound and or image to remind the driver to respond, if the driver does not respond within the response time T1, the point brake is applied through the ESC system to achieve the purpose of strong pre-warning;

[0022] Wherein, S2<S1.

[0023] Further, when the driver fails to take measures and the collision risk further increases, an emergency brake request is issued, and emergency braking is performed through the ESC system, including:

[0024] When the distance between the vehicle and the front target is less than S3, the collision danger level 3 is entered, the sound and image remind the driver, and in the case that the warning function is triggered but the driver does not take braking measures within the response time T2, the braking system is actively controlled by the ESC system to apply braking force; wherein, S3<S2.

[0025] Further, it also includes:

[0026] When the collision danger level 1 or 2 is entered, the wheel cylinder is pre-charged with brake fluid through the ESC system to eliminate the gap between the brake pad and the brake disc, so as to shorten the response time of the braking system in emergency braking.

[0027] Further, when the collision danger level 2 or 3 is entered, the double flash and or horn are turned on at the same time to warn surrounding vehicles.

[0028] Further, it also includes:

[0029] When the driver takes braking measures but the braking force is small, braking assistance is performed through the ESC system according to the collision danger level.

[0030] The second aspect is an automatic emergency braking device based on millimeter wave radar, including a monitoring unit, a warning unit and a braking unit;

[0031] The monitoring unit is used to monitor the motion state of the front target in real time by using millimeter wave radar;

[0032] The warning unit is used to trigger the alarm function to remind the driver to take measures when the collision risk between the vehicle and the front target is detected;

[0033] The braking unit is used to issue an emergency brake request and perform emergency braking through the ESC system when the driver fails to take measures and the collision risk further increases.

[0034] In a third aspect, an electronic device includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus.

[0035] a memory, which stores a computer program;

[0036] a processor, which, when executing the computer program stored on the memory, implements the automatic emergency braking based on the millimeter wave radar described above.

[0037] In a fourth aspect, a computer readable storage medium stores a computer program, which, when executed by a processor, implements the automatic emergency braking based on the millimeter wave radar described above.

[0038] The present disclosure has at least the following beneficial effects:

[0039] (1) Improve stable working ability: the system uses a millimeter wave radar as a target input sensor, has stronger anti-interference ability, and effectively improves the stable working ability in bad weather. (2) Improve safety: in the case of a driver's reaction is not timely, potential collision accidents can be avoided or reduced, and the harm to pedestrians, non-motor vehicles, and other vulnerable road users is reduced. (3) Reduce the risk of accidents: early warning can help drivers maintain a safe distance and speed, reducing the probability of accidents. (4) Reduce the driving pressure of the driver: in a complex traffic environment, the driver needs to pay close attention to deal with various emergencies. The system can reduce the pressure of the driver to a certain extent. (5) Improve the comfort of the driver: by reducing and avoiding unnecessary collisions, passengers can have a more comfortable driving experience. (6) Conform to the development trend of future intelligent transportation: as part of active safety technology, the automatic emergency braking system helps to promote the realization of intelligent transportation and improve the efficiency and safety of the entire transportation system.

[0040] Other features and advantages of the present disclosure will be described in the following description, and some will become apparent from the description, or will be learned through implementation of the present disclosure. The purposes and other advantages of the present disclosure can be achieved and obtained by the structure indicated in the description and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are some embodiments of the present disclosure, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0042] Figure 1Braking method flowchart for the embodiment of the present disclosure;

[0043] Figure 2 Braking device structure schematic diagram for the embodiment of the present disclosure;

[0044] Figure 3 Electronic device structure schematic diagram;

[0045] Figure 4 Automatic emergency braking system module schematic diagram;

[0046] Figure 5 FCW schematic diagram;

[0047] Figure 6 System block diagram schematic diagram;

[0048] Figure 7 System state transition schematic diagram. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiment of the present disclosure clearer, the technical scheme in the embodiment of the present disclosure will be clearly and completely explained below in combination with the drawings in the embodiment of the present disclosure. Obviously, the described embodiment is a part of the embodiment of the present disclosure, not all the embodiments. Based on the embodiment in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present disclosure.

[0050] As shown in Figure 1 An automatic emergency braking method based on millimeter wave radar, the method comprising:

[0051] S101, using millimeter wave radar to monitor the motion state of the target in front in real time;

[0052] S102, when it is detected that there is a collision risk between the vehicle and the target in front, triggering the alarm function to remind the driver to take measures;

[0053] S103, when the driver fails to take measures and the collision risk further increases, issuing an emergency braking request and performing emergency braking through the ESC system.

[0054] In specific implementation, the emergency braking assistance function will prepare the braking system in advance and warn the driver of possible collision. The warning provides more reaction time for the driver to respond to dangerous situations, and the advance preparation of the braking system can achieve faster and even stronger deceleration in some cases. In addition, if the driver responds in an emergency situation but the braking force is insufficient, the system will provide additional braking force to achieve the best target braking force to avoid collision.

[0055] In an embodiment, a millimeter wave radar is used to monitor a front target in real time, including:

[0056] The front target includes a vehicle, a pedestrian, a bicycle, and an electric vehicle.

[0057] The distance between the vehicle and the front target is monitored in real time by the millimeter wave radar.

[0058] In a specific implementation, the purpose of the safe distance alarm is to prompt the driver that the vehicle distance is too small, and the driving behavior is in a potentially dangerous state, and the time distance between the vehicles is less than a given value, the safe distance alarm is triggered. The safe distance alarm reminds the driver when the situation is not urgent, but if the front vehicle suddenly slows down at this time, the danger level of the situation will quickly escalate. This function belongs to the information prompt category, and no accident will occur even if the driver does not change the driving behavior when the working condition is unchanged. However, when the function is triggered, the ideal operation of the driver is to change the driving behavior and maintain a reasonable vehicle distance from the front vehicle, so that if the vehicle in front suddenly brakes, the driver can respond in time to avoid an accident.

[0059] In an embodiment, when it is detected that the vehicle and the front target are at risk of collision, an alarm function is triggered to remind the driver to take countermeasures, including:

[0060] The distance between the vehicle and the front target is monitored by the millimeter wave radar.

[0061] When the distance between the vehicle and the front target is less than S1, the first level of collision danger is entered, and the driver is reminded to respond by using sound and / or image through the in-vehicle central control platform;

[0062] When the distance between the vehicle and the front target is less than S2, the second level of collision danger is entered, and the driver is reminded to respond by using sound and / or image through the in-vehicle central control platform, and if the driver does not brake within a response time T1, point braking is performed through the ESC system to achieve the purpose of strong warning.

[0063] S2 < S1.

[0064] In specific implementation, in an emergency situation (where the driver must change driving behavior to avoid collision or mitigate accident injuries), the system will use a two-level alarm method to alert the driver. The main differences between these two alarm methods lie in the parameters (the timing of the alarm) and the alarm methods. There are two levels of forward collision warning: when a dangerous working condition occurs, the pre-warning function is first triggered (the danger level reaches level 1); if the situation continues to deteriorate, an emergency alarm will be issued (the danger level reaches level 2). In the event of a sudden dangerous situation (such as a vehicle in front suddenly cutting in or braking forcefully), both alarms may be triggered simultaneously. In this case, the driver has only a very short time to react. Ideally, the forward collision warning should be issued as early as possible so that the driver can react after a certain reaction time, but at the same time, high-frequency false triggers should be avoided.

[0065] In one embodiment, when the driver fails to take measures and the collision risk further increases, an emergency braking request is issued, and emergency braking is performed through the ESC system, including:

[0066] When the distance between the vehicle and the target in front is less than S3, it enters the third-level collision danger state. While alerting the driver in the form of sound and image, when the warning function has been triggered but the driver has not taken braking measures within the response time T2, the ESC system actively controls the braking system to apply braking force; where S3 < S2. S1, S2, and S3 are set according to actual conditions through experimental tests.

[0067] In specific implementation, if the driver does not respond to the forward collision warning (FCW), and the danger level of the situation continues to escalate, the system will request the power system to reduce torque and the braking system to perform emergency braking, including actively reducing torque. In a dangerous situation, the system can request the power system to reduce torque; emergency braking. According to the target and danger level identified by the sensor, the system can take different levels of active braking.

[0068] In one embodiment, it further includes:

[0069] When entering the first-level or second-level collision danger state, the ESC system pre-fills the wheel cylinders with brake fluid to eliminate the gap between the brake pads and the brake discs, so as to shorten the response time of the braking system during emergency braking.

[0070] In specific implementation, the purpose of brake pre-filling is to achieve faster braking response. For a general braking system, there is a gap between the friction pads and the brake discs to prevent premature wear of the friction pads. During emergency braking, the existence of this gap will affect the entire braking distance. Brake pre-filling prepares for emergency situations, eliminates the gap between the friction pads and the brake discs in advance, but does not apply braking force, enabling the braking system to respond more quickly to the driver's braking request.

[0071] In one embodiment, when the collision hazard level is reached (level 2 or 3), hazard lights and / or horn are activated simultaneously to warn surrounding vehicles.

[0072] In one embodiment, it further includes:

[0073] When the driver applies the brakes but the braking force is insufficient, the ESC system provides braking assistance based on the collision hazard level.

[0074] In practice, only a few drivers can effectively apply strong braking force when emergency braking is required. To address this, the hydraulic brake assist function monitors brake pressure signals to identify the driver's intention to brake suddenly, thus supplementing the insufficient braking force during emergency braking. The trigger threshold of the hydraulic brake assist function should be optimized for extreme conditions to avoid frequent accidental triggering by drivers with a more "sporty" driving style. Conversely, in emergency situations, less experienced drivers may not be able to trigger the function. Therefore, the trigger threshold of the hydraulic brake assist function needs to be calibrated according to actual conditions to ensure that most drivers can trigger the function in emergency situations.

[0075] like Figure 2 As shown, an automatic emergency braking device based on millimeter-wave radar includes: a monitoring unit 201, an early warning unit 202, and a braking unit 203;

[0076] Monitoring unit 201 is used to monitor the motion status of targets ahead in real time using millimeter-wave radar;

[0077] The warning unit 202 is used to trigger an alarm function to remind the driver to take appropriate measures when a collision risk is detected between the vehicle and a target ahead.

[0078] Braking unit 203 is used to issue an emergency braking request and perform emergency braking via the ESC system when the driver fails to take action and the risk of collision further increases.

[0079] In practice, when the system detects the driver's intention to change lanes, it will not react or issue an alarm to avoid distracting the driver from the lane change.

[0080] Insufficient braking force from the driver: In this case, EBA will be triggered to provide additional braking force to the driver;

[0081] If the driver does not respond: In this case, all previously untriggered alarms will be triggered, and the system will automatically apply emergency braking.

[0082] like Figure 3As shown, this disclosure provides an electronic device, including a processor 301, a communication interface 302, a memory 303, and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304;

[0083] Memory 303 stores computer programs;

[0084] The processor 301 implements the above method when executing a computer program stored in the memory 303.

[0085] This disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0086] The computer-readable storage medium may be included in the device / apparatus described in the above embodiments; or it may exist independently and not assembled into the device / apparatus. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0087] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0088] To enable those skilled in the art to better understand the present invention, the principles of the present invention are explained below in conjunction with the accompanying drawings:

[0089] The automatic emergency braking system monitors the movement of objects ahead, including vehicles, pedestrians, and bicycles, in real time using sensors. When a collision risk is detected between the vehicle and an object ahead, the system triggers an alarm to alert the driver to take appropriate measures. If the driver fails to take action and the collision risk increases further, the system issues an emergency braking request and initiates emergency braking through the ESC system to avoid or mitigate the collision. If the driver applies braking force but it is insufficient, the system issues an auxiliary braking request and provides braking assistance through the ESC system.

[0090] like Figure 4As shown, the automatic emergency braking system comprises four sub-modules: Forward Collision Warning (FCW), Brake Pre-fill (ABP), Emergency Brake Warning (AWB), Emergency Brake Assist (EBA), and Automatic Emergency Braking (AEB). The Forward Collision Warning can be further divided into safe distance warning and pre-warning.

[0091] Depending on project requirements, it can also support the hydraulic brake assist level adjustment function ABA.

[0092] This disclosure details the functional strategies of an automatic emergency braking system and illustrates the process from warning to braking.

[0093] Specific implementation plan:

[0094] like Figure 5 As shown, FCW (Forward Collision Warning) is a forward collision warning system.

[0095] Forward collision warning should alert the driver to react through sound and images when the system detects a collision risk, thereby reducing the risk of collision.

[0096] The forward collision warning system should have three sensitivity levels: "low," "medium," and "high," which the driver can select through the infotainment system. The system defaults to "medium" sensitivity by default.

[0097] Brake pre-fill function (ABP):

[0098] Brake pre-filling is achieved by requesting the ESC system to pre-fill the wheel cylinders with brake fluid, eliminating the gap between the brake pads and brake discs. This shortens the braking system's response time during emergency braking, thereby reducing braking distance. The brake pre-filling function is applicable to vehicle speeds ranging from 10 kph to 130 kph.

[0099] (3) Emergency Braking Warning Function (AWB):

[0100] The emergency braking warning function should alert the driver to react by issuing a braking warning when the dangerous situation becomes more urgent. The emergency braking warning function achieves its purpose of providing a strong warning by requesting the ESC system to apply intermittent braking.

[0101] The emergency braking alarm function is applicable to the following operating range: vehicle speed range: 30kph~130kph.

[0102] (4) Emergency Braking Assist (EBA):

[0103] Emergency braking assist is a function that assists the driver in providing additional braking force when there is a risk of collision between the vehicle and a vehicle or pedestrian in front, and the driver has taken braking measures but the braking force is insufficient, in order to avoid or mitigate the risk of collision.

[0104] The target deceleration supported by the emergency braking assist function is -10 m / s^2.

[0105] The emergency braking assist function is applicable within the following operating range: vehicle speed range: 5kph~130kph.

[0106] (5) Automatic Emergency Braking (AEB):

[0107] The automatic emergency braking function is used when there is a risk of collision between the vehicle and a vehicle or pedestrian ahead, and the warning function has been triggered but the driver has not yet taken action. In this case, the driver requests the ESC system to actively control the braking system to apply braking force in order to avoid or mitigate the risk of collision.

[0108] The target deceleration for the automatic emergency braking function is -10 m / s^2.

[0109] like Figure 6 The diagram shows the block diagram of the Automatic Emergency Braking System (AEBS): The ESC outputs signals such as vehicle speed, wheel speed, longitudinal acceleration, lateral acceleration, master cylinder pressure, and ABS activation; the BDM outputs signals such as the closed status of the four doors and two hoods, the driver's seatbelt status, and the hazard warning lights; the IVI outputs the status signals of various AEBS system function switches (mainly soft switches); the VCU outputs signals such as accelerator pedal opening and gear position; the EPB outputs signals such as the current operating status; the Radar outputs information about forward obstacles; the ESC executes the target deceleration issued by the MPC; and the VCU instrument panel provides alarm prompts.

[0110] like Figure 7 As shown, the system state transitions are defined as follows: 1: OFF to ON, the main function switch is turned on; 2: ON to OFF, the main function switch is turned off; 3: Error to Passive, the system fault is cleared but a suppression condition exists; 4: Passive to Error, a fault exists in the system or related systems; 5: Standby to Passive, a suppression condition occurs when the function is in standby state; 6: Passive to Standby, the suppression condition is cleared and the function returns to standby state; 7: Standby to Active, the function activation condition is met; 8: Active to Standby, the function activation ends; 9: Active to Passive, a suppression condition occurs during function activation; 10: Passive to Active, the suppression condition is cleared and the activation condition is still met.

[0111] Although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method of automatic emergency braking based on millimeter wave radar, characterized in that, The method comprises: Real-time monitoring of the motion state of the front target by using a millimeter wave radar, the millimeter wave radar emits millimeter wave signals, and part of the signals will be reflected when encountering obstacles, and the type, position, relative speed, acceleration, movement state and target shape information of the obstacles are calculated by analyzing the reflected signals; When the collision risk between the vehicle and the front target is detected, the alarm function is triggered to remind the driver to take measures; When the driver fails to take measures and the collision risk further increases, an emergency braking request is issued, and emergency braking is performed through the ESC system; When the collision risk between the vehicle and the front target is detected, the alarm function is triggered to remind the driver to take measures, including: Monitoring the distance between the vehicle and the front target by using the millimeter wave radar; When the distance between the vehicle and the front target is less than S1, enter the first level of collision danger, and remind the driver to respond through the in-vehicle central control platform in the form of sound and / or image; When the distance between the vehicle and the front target is less than S2, enter the second level of collision danger, and remind the driver to respond through the in-vehicle central control platform in the form of sound and / or image, and if the driver does not take braking response within the response time T1, point braking is performed through the ESC system to achieve the purpose of strong warning; Wherein, S2<S1; When the driver fails to take measures and the collision risk further increases, an emergency braking request is issued, and emergency braking is performed through the ESC system, including: When the distance between the vehicle and the front target is less than S3, enter the third level of collision danger, and remind the driver through sound and image, and in the case that the warning function is triggered but the driver does not take braking measures within the response time T2, the braking system is actively controlled by the ESC system to apply braking force; Wherein, S3<S2; When entering the second or third level of collision danger, the double flash and / or horn are turned on to warn surrounding vehicles.

2. The automatic emergency braking method based on millimeter wave radar according to claim 1, characterized in that: Real-time monitoring of the front target by using a millimeter wave radar, including: The front target includes: vehicles and pedestrians; Real-time monitoring of the distance between the vehicle and the front target by using the millimeter wave radar.

3. The automatic emergency braking method based on millimeter wave radar according to claim 1, characterized in that, Further comprising: When entering the first or second level of collision danger, the wheel cylinder is pre-charged with brake fluid by the ESC system to eliminate the gap between the brake pad and the brake disc, so as to shorten the response time of the braking system in emergency braking.

4. The automatic emergency braking method based on millimeter wave radar according to claim 1, characterized in that, Further comprising: When the driver takes braking measures but the braking force is small, the braking assistance is performed by the ESC system according to the collision danger level.

5. A millimeter wave radar-based automatic emergency braking system, characterized in that, An automatic emergency braking method based on millimeter wave radar for realizing any one of claims 1-4, comprising: a monitoring unit, a warning unit and a braking unit; The monitoring unit is used for real-time monitoring of the motion state of the front target by using a millimeter wave radar; The early warning unit triggers an alarm function to remind the driver to take measures when the vehicle and the front target are detected to have a collision risk; The brake unit sends an emergency braking request and performs emergency braking through the ESC system when the driver fails to take measures and the collision risk further increases; The alarm function is triggered to remind the driver to take measures when the vehicle and the front target are detected to have a collision risk, including: The distance between the vehicle and the front target is monitored by a millimeter wave radar; When the distance between the vehicle and the front target is less than S1, the vehicle enters a first collision danger state, and the driver is reminded to respond through the vehicle's central control platform in the form of sound and / or image; When the distance between the vehicle and the front target is less than S2, the vehicle enters a second collision danger state, and the driver is reminded to respond through the vehicle's central control platform in the form of sound and / or image, and if the driver does not take braking response within response time T1, point braking is performed through the ESC system to achieve the purpose of strong warning; Wherein, S2<S1; When the driver fails to take measures and the collision risk further increases, an emergency braking request is sent, and emergency braking is performed through the ESC system, including: When the distance between the vehicle and the front target is less than S3, the vehicle enters a third collision danger state, and the driver is reminded through sound and image, and in the case that the early warning function is triggered but the driver does not take braking measures within response time T2, the ESC system actively controls the braking system to apply braking force; wherein, S3<S2; When the vehicle enters the second or third collision danger state, double flashing and / or horn sounding are started to warn surrounding vehicles.

6. An electronic device, comprising: The system includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus; The memory stores a computer program; The processor is configured to execute the computer program stored in the memory to implement the automatic emergency braking method based on the millimeter wave radar.

7. A computer readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor to implement the automatic emergency braking method based on the millimeter wave radar.

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