AEB system and application method thereof

Abstract

The invention discloses an AEB system and an application method thereof. The method comprises the following steps: acquiring front obstacle information, and determining a target obstacle in front of a vehicle; calculating critical time for the user to take effective collision avoidance operation according to the target obstacle; and early warning and emergency braking decisions are determined according to the critical time, and then deceleration or braking control is carried out. Based on a pure vision AEB solution, redundant arrangement of sensors is reduced, and the loading cost and the maintenance cost can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent driving assistance systems for vehicles, and more specifically, to an AEB system and an application method thereof. Background Art

[0002] The AEB system uses sensor equipment to monitor the status of obstacles in front of the vehicle and predicts whether there is a risk of collision ahead based on an algorithm. The system will issue a warning to remind the driver. If the driver does not take measures or the risk of collision still exists after taking measures, the system will actively intervene and provide braking force to minimize or mitigate the collision.

[0003] Currently, mainstream AEB adopts a combination of millimeter-wave radar and visual solutions, or uses mobileye's visual algorithm solution.

[0004] Therefore, it is necessary to develop an AEB system and an application method thereof.

[0005] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0006] The present invention proposes an AEB system and an application method thereof, which can reduce the redundant arrangement of sensors based on a pure vision AEB solution and can effectively reduce the installation cost and maintenance cost.

[0007] In a first aspect, an embodiment of the present disclosure further provides an AEB system, including:

[0008] Camera, used to obtain information about obstacles ahead;

[0009] A target selection module is used to determine the target obstacle in front of the vehicle;

[0010] The risk calculation module is used to calculate the critical time for the user to take effective collision avoidance actions;

[0011] A decision-making module is used to make early warning and emergency braking decisions based on the results output by the risk calculation module;

[0012] A control module is used to respond to warnings and emergency braking decisions to perform deceleration or braking control.

[0013] Preferably, based on the images captured by the camera, a critical time for the user to take effective collision avoidance actions is calculated through kinematics.

[0014] Preferably, the collision time of the collision and the deceleration required for emergency braking are calculated according to the target obstacle, and then the critical time for the user to take effective collision avoidance operation is calculated.

[0015] Preferably, the results of the warning and emergency braking decision include whether to issue a warning and the warning level, whether to apply braking and the braking level.

[0016] In a second aspect, the present disclosure provides an application method, including:

[0017] Obtain the obstacle information ahead and determine the target obstacle ahead of the vehicle;

[0018] Calculating the critical time for the user to take effective collision avoidance actions according to the target obstacle;

[0019] The warning and emergency braking decisions are determined according to the critical time, and then deceleration or braking control is performed.

[0020] Preferably, according to the front obstacle information, through kinematics, the collision time of the collision and the deceleration required for emergency braking are calculated according to the target obstacle, and then the critical time for the user to take effective collision avoidance operation is calculated.

[0021] Preferably, the collision time of the collision and the deceleration required for emergency braking are calculated by the following formula:

[0022]

[0023] Among them, v1 and a1 represent the speed and acceleration of the front vehicle, v2 and a2 represent the speed and acceleration of the rear vehicle, and D rel represents the relative distance between the two vehicles, D safe Indicates safe stopping distance.

[0024] Preferably, the critical time for the user to take effective collision avoidance actions is:

[0025]

[0026] Among them, v rel 、a rel Represents the relative speed and acceleration of the two vehicles.

[0027] Preferably, determining the warning and emergency braking decision according to the critical time includes:

[0028] Calibrate the risk level threshold parameter T based on the actual vehicle 轻度风险 , T 中度风险 , T 重度风险 ;

[0029] The critical time is compared with the risk level threshold parameter to determine the warning and emergency braking decision.

[0030] Preferably, the warning and emergency braking decisions are:

[0031] TTC>T 轻度风险 : The AEB system is not triggered;

[0032] T 中度风险 ≥TTC>T 轻度风险 : The AEB system is triggered and an alarm is sounded;

[0033] T 重度风险 ≥TTC>T 中度风险 : The AEB system is triggered and the brakes are lightly applied for partial braking;

[0034] TTC≤T 重度风险 : The AEB system is triggered and heavy braking is performed for full braking.

[0035] The methods and systems of the present invention have other features and advantages that will be apparent from, or will be described in detail in, the accompanying drawings and subsequent detailed descriptions incorporated herein, which together serve to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0037] Figure 1 A flow chart showing the steps of an application method of an AEB system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0039] To facilitate understanding of the solutions and effects of the embodiments of the present invention, two specific application examples are given below. Those skilled in the art should understand that the examples are only for facilitating understanding of the present invention, and any specific details thereof are not intended to limit the present invention in any way.

[0040] Example 1

[0041] An AEB system, comprising:

[0042] Camera, used to obtain information about obstacles ahead;

[0043] A target selection module is used to determine the target obstacle in front of the vehicle;

[0044] The risk calculation module is used to calculate the critical time for the user to take effective collision avoidance actions;

[0045] A decision-making module is used to make early warning and emergency braking decisions based on the results output by the risk calculation module;

[0046] A control module is used to respond to warnings and emergency braking decisions to perform deceleration or braking control.

[0047] In one example, based on images captured by a camera, a critical time for a user to take effective collision avoidance action is calculated through kinematics.

[0048] In one example, the collision time of the collision and the deceleration required for emergency braking are calculated according to the target obstacle, and then the critical time for the user to take effective collision avoidance action is calculated.

[0049] In one example, the results of the warning and emergency braking decision include whether to issue a warning and the warning level, whether to apply braking and the braking level.

[0050] Specifically, the AEB system obtains obstacle information through sensor equipment and calculates the risk of collision. Most traditional AEB solutions are based on multiple sensors, while this system adopts a domestically produced pure vision solution.

[0051] This system uses Horizon's domestically produced chip + binocular camera, obtains information about obstacles ahead through the camera, and tracks and detects targets; the target selection module screens obstacles based on perception, and selects targets based on the prediction of the vehicle's motion trajectory (selecting obj in the target area based on the characteristic requirements) to screen out the main target obstacles ahead of the vehicle; the risk calculation module uses kinematics to calculate the collision time with the vehicle or pedestrian and the vehicle, the deceleration required for emergency braking, and the last time the driver may have the opportunity to take effective collision avoidance actions based on the images collected by the camera; the decision module makes warnings and emergency braking decisions based on the risk calculation results and the driver's operating status of the system. The results of the decision include whether to warn and the warning level, whether to brake, and the level of braking; the control module mainly responds to the braking decision and level output by the decision module, performs deceleration control of the corresponding level, and performs braking priority arbitration when there is a braking demand for multiple targets in complex scenes. At the same time, when the lateral control is in the loop, the stability of the entire vehicle is guaranteed during the lateral and longitudinal coupling, and when the actuator is redundant, the arbitration distribution of braking demand must also be considered.

[0052] Example 2

[0053] Figure 1 A flow chart showing the steps of an application method of an AEB system according to an embodiment of the present invention.

[0054] like Figure 1 As shown, the application method includes:

[0055] Step 101, obtaining the obstacle information ahead and determining the target obstacle ahead of the vehicle;

[0056] Step 102, calculating the critical time for the user to take effective collision avoidance actions according to the target obstacle;

[0057] Step 103, determining a warning and emergency braking decision according to the critical time, and then performing deceleration or braking control.

[0058] In one example, based on the obstacle information ahead, through kinematics, the collision time of the target obstacle and the deceleration required for emergency braking are calculated, and then the critical time for the user to take effective collision avoidance actions is calculated.

[0059] In one example, the collision time until a collision occurs and the deceleration required for emergency braking are calculated by the following formula:

[0060]

[0061] Among them, v1 and a1 represent the speed and acceleration of the front vehicle, v2 and a2 represent the speed and acceleration of the rear vehicle, and D rel represents the relative distance between the two vehicles, D safe Indicates safe stopping distance.

[0062] In one example, the critical time for a user to take effective collision avoidance action is:

[0063]

[0064] Among them, v rel 、a rel Represents the relative speed and acceleration of the two vehicles.

[0065] In one example, determining warning and emergency braking decisions based on critical time includes:

[0066] Calibrate the risk level threshold parameter T based on the actual vehicle 轻度风险 , T 中度风险 , T 重度风险 ;

[0067] Compare critical time and risk level threshold parameters to determine warning and emergency braking decisions.

[0068] In one example, the warning and emergency braking decisions are:

[0069] TTC>T 轻度风险 : The AEB system is not triggered;

[0070] T 中度风险 ≥TTC>T 轻度风险 : The AEB system is triggered and an alarm is sounded;

[0071] T 重度风险 ≥TTC>T 中度风险 : The AEB system is triggered and the brakes are lightly applied for partial braking;

[0072] TTC≤T 重度风险 : The AEB system is triggered and heavy braking is performed for full braking.

[0073] Specifically, the front obstacle information is obtained to determine the target obstacle in front of the vehicle.

[0074] According to the obstacle information ahead, through kinematics, the collision time of the collision and the deceleration required for emergency braking are calculated according to the target obstacle, and then the critical time for the user to take effective collision avoidance operations is calculated.

[0075] The collision time and the deceleration required for emergency braking are calculated using the following formula:

[0076]

[0077] Where: v1, a1 represent the speed and acceleration of the front vehicle, v2, a2 ​​represent the speed and acceleration of the rear vehicle, D rel represents the relative distance between the two vehicles, D safe Indicates the safe parking distance (usually 2m to 3m). The critical time for the user to take effective collision avoidance actions is obtained from the above formula:

[0078]

[0079] Where: v rel 、a rel Represents the relative speed and acceleration of the two vehicles.

[0080] The current risk level is evaluated based on the calculated TTC, so that the corresponding braking strategy is implemented and the braking deceleration is output. The specific control logic is as follows:

[0081] 1)TTC>T 轻度风险 : The AEB system is not triggered;

[0082] 2) T 中度风险 ≥TTC>T 轻度风险 :AEB system triggered → alarm sounded;

[0083] 3) T 重度风险 ≥TTC>T中度风险 : AEB system triggered → light braking for partial braking;

[0084] 4)TTC≤T 重度风险 : AEB system triggered → heavy braking for full braking;

[0085] The risk level threshold parameter T 轻度风险 , T 中度风险 , T 重度风险 A reasonable threshold can be set based on actual vehicle calibration.

[0086] Those skilled in the art should understand that the purpose of the above description of the embodiments of the present invention is only to exemplarily illustrate the beneficial effects of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention to any given examples.

[0087] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An AEB system, characterized in that: include: Camera, used to obtain information about obstacles ahead; A target selection module is used to determine the target obstacle in front of the vehicle; The risk calculation module is used to calculate the critical time for the user to take effective collision avoidance actions; A decision-making module is used to make early warning and emergency braking decisions based on the results output by the risk calculation module; A control module is used to respond to warnings and emergency braking decisions to perform deceleration or braking control.

2. The AEB system according to claim 1, wherein: Based on the images captured by the camera, a critical time for the user to take effective collision avoidance actions is calculated through kinematics.

3. The AEB system according to claim 2, wherein: The collision time of the collision and the deceleration required for emergency braking are calculated according to the target obstacle, and then the critical time for the user to take effective collision avoidance operation is calculated.

4. The AEB system according to claim 1, wherein: The results of the warning and emergency braking decision include whether to issue a warning and the warning level, whether to apply braking and the braking level.

5. An application method of the AEB system according to any one of claims 1 to 4, characterized in that: include: Obtain the obstacle information ahead and determine the target obstacle ahead of the vehicle; Calculating the critical time for the user to take effective collision avoidance actions according to the target obstacle; The warning and emergency braking decisions are determined according to the critical time, and then deceleration or braking control is performed.

6. The application method according to claim 5, wherein: According to the front obstacle information, through kinematics, the collision time of collision and the deceleration required for emergency braking are calculated according to the target obstacle, and then the critical time for the user to take effective collision avoidance operation is calculated.

7. The application method according to claim 6, wherein: The collision time and the deceleration required for emergency braking are calculated using the following formula: Among them, v1 and a1 represent the speed and acceleration of the front vehicle, v2 and a2 represent the speed and acceleration of the rear vehicle, and D rel represents the relative distance between the two vehicles, D safe Indicates safe stopping distance.

8. The application method according to claim 7, wherein: The critical time for users to take effective collision avoidance actions is: Among them, v rel 、a rel Represents the relative speed and acceleration of the two vehicles.

9. The application method according to claim 8, wherein: Determining the warning and emergency braking decision according to the critical time includes: Calibrate the risk level threshold parameter T based on the actual vehicle 轻度风险 、T 中度风险 、T 重度风险 ; The critical time is compared with the risk level threshold parameter to determine the warning and emergency braking decision.

10. The application method according to claim 9, wherein: The warning and emergency braking decisions are: TTC>T 轻度风险 : The AEB system is not triggered; T 中度风险 ≥TTC>T 轻度风险 : The AEB system is triggered and an alarm is sounded; T 重度风险 ≥TTC>T 中度风险 : The AEB system is triggered and the brakes are lightly applied for partial braking; TTC≤T 重度风险 : The AEB system is triggered and heavy braking is performed for full braking.

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