Vehicle emergency anti-collision control method and system

Abstract

The invention provides a vehicle emergency anti-collision control method and system, and relates to the technical field of vehicle anti-collision control. The method includes: acquiring whether a collision risk exists between a vehicle and an obstacle in front of a lane; if the vehicle still has the risk of collision with the barrier in front of the lane after being braked, information of the barrier on the adjacent lane of the lane is acquired, and an AES function is started to perform steering control on the vehicle; and judging whether there is a risk of collision with an adjacent lane obstacle during steering control of the vehicle, if so, respectively evaluating the collision severity of collision between the vehicle and an obstacle in front of the lane and the collision severity of collision between the vehicle and the adjacent lane obstacle, and selecting the direction with the minimum collision severity for collision. Steering is conducted in time when the steering condition is met, and when the steering condition is not met, the damage degree generated when the vehicle collides with the front vehicle or the adjacent vehicle is evaluated, and whether the vehicle collides with the front vehicle or the adjacent vehicle is determined according to the damage degree.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle anti-collision control, and in particular relates to a vehicle emergency anti-collision control method and system. Background Art

[0002] With the development of the automobile industry, cars have become a necessity in our lives, and the technology of car-assisted driving has become increasingly mature. How to avoid collisions safely is crucial for cars. Most of the current vehicles widely use automatic emergency braking systems AEB and automatic emergency steering systems AES.

[0003] Automatic Emergency Braking System AEB: The commonly used emergency braking system uses the following vehicle status parameters, vehicle parameters, and environmental parameters obtained by the camera and radar arranged in front of the vehicle to comprehensively judge the safety status of the vehicle and the vehicle in front. If it is determined that there is a risk of collision, the car will be controlled to brake and slow down to avoid collision with the vehicle in front.

[0004] Automatic Emergency Steering System AES: This function obtains information about the external environment around the vehicle and the vehicle's own driving status through on-board sensors. The sensors plan a reasonable steering and collision avoidance path based on these information parameters, thereby eliminating the possibility of dangerous collisions of the vehicle.

[0005] However, the technologies currently used are all single control of vehicle braking or steering, which is difficult to cope with complex real-world traffic conditions. For example, the Chinese invention patent application with the publication number CN 112406820 A and the name of the multi-lane enhanced automatic emergency braking system control method discloses the following content: At present, the AEB system only determines the motion state of the target in front of the lane to decide whether to perform automatic braking; when it is determined that the vehicle cannot safely turn to cut into the adjacent lane and cannot avoid the risk of collision with the vehicle in front, the perception fusion and planning decision module adds a time increment to its original braking timing as the timing to start braking, and sends a control command to the braking system control module accordingly.

[0006] It can be seen that the above technical solution is still a single braking control of the vehicle, but the braking is performed in advance. Although this solution can obtain a larger braking acceleration and avoid collision to a certain extent, the increase in braking acceleration cannot completely avoid collision. When the vehicle speed is high and the distance to the front vehicle is close, it will still have a relatively violent collision with the front vehicle. Summary of the invention

[0007] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a vehicle emergency collision avoidance control method and system, which not only takes into account the situation where the vehicle rear-ends the vehicle in front, but also takes into account the situation where the rear vehicle rear-ends the vehicle in front, and judges the conditions for turning and changing lanes. When the turning conditions are met, the vehicle turns in time. When the turning conditions are not met, the degree of damage to the vehicle when it collides with the vehicle in front or the vehicle in the adjacent road is evaluated, and based on this, it is determined whether the vehicle collides with the vehicle in front or the vehicle in the adjacent road.

[0008] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0009] A first aspect of the present invention provides a vehicle emergency collision avoidance control method.

[0010] The vehicle emergency collision avoidance control method, including the front obstacle emergency collision avoidance control method, specifically comprises the following steps:

[0011] Obtain information about the vehicle and the obstacle ahead of the lane to determine whether there is a risk of collision between the two. If there is a risk of collision, activate the AEB function to brake the vehicle;

[0012] If there is still a risk of collision with the obstacle in front of the lane after braking, the information of the obstacle in the adjacent lane is obtained, and the AES function is activated to control the steering of the vehicle;

[0013] Determine whether there is a risk of collision with an obstacle in the adjacent lane when the vehicle is steering. If so, evaluate the collision severity of the vehicle's collision with the obstacle in front of the lane and the collision severity of the vehicle's collision with the obstacle in the adjacent lane, and choose the direction with the smallest collision severity to collide.

[0014] As an optional technical solution, information about the vehicle and the obstacle ahead of the lane is obtained to determine whether there is a risk of collision between the two. If there is a risk of collision, the AEB function is activated to brake the vehicle, specifically including:

[0015] Obtaining the speed and distance of the vehicle and the obstacle in front of the lane respectively, and calculating the pre-collision time between the vehicle and the obstacle in front of the lane, wherein the obstacle includes a static obstacle and a dynamic obstacle, and the dynamic obstacle includes a vehicle;

[0016] Calculate the vehicle's braking deceleration based on the pre-collision time and determine whether the vehicle's braking deceleration is too large:

[0017] If the braking deceleration of the vehicle is too large, it means that there is still a risk of collision with the obstacle in front of the lane after braking the vehicle. At this time, the AES function of the vehicle is activated to control the steering;

[0018] If the braking deceleration of the vehicle is within the normal range, it means that there will be no risk of collision with the obstacle in front of the lane after braking the vehicle. At this time, the AEB function of the vehicle is activated for braking control.

[0019] As an optional technical solution, if there is still a risk of collision with the obstacle in front of the lane after braking the vehicle, the information of the obstacle in the adjacent lane is obtained, and the AES function is activated to control the steering of the vehicle, which includes:

[0020] Obtain the speed and distance of obstacles on the left side, left front side, left rear side of the vehicle in the first lane adjacent to the left side of the vehicle, and on the right side, right front side, and right rear side of the vehicle in the second lane adjacent to the right side of the vehicle, and determine whether the vehicle can safely turn and change lanes based on the speed of the vehicle;

[0021] Determine the adjacent lane into which the vehicle can safely turn and change lanes, and turn and change lanes into the determined first lane or second lane based on the AES function.

[0022] As an optional technical solution, if it is determined that the vehicle cannot make a safe turn and change lanes, that is, if it is determined that there is a risk of collision with an obstacle in an adjacent lane after the vehicle makes a turn, then:

[0023] Calculate the first collision speed when the vehicle collides with the obstacle in front of the lane, the second collision speed when the vehicle collides with the obstacle on the first lane adjacent to the left, and the third collision speed when the vehicle collides with the obstacle on the second lane adjacent to the right;

[0024] The minimum value among the first collision speed, the second collision speed and the third collision speed is determined, the collision direction corresponding to the minimum value is used as the direction with the minimum collision severity, and the vehicle is controlled to collide along the collision direction corresponding to the minimum value.

[0025] As an optional technical solution, it also includes a rear obstacle emergency collision avoidance control method:

[0026] Obtain information about the vehicle and the obstacle behind the lane, calculate the pre-collision time between the two, and if the pre-collision time is less than the first safety threshold, turn on the brake lights to remind the rear obstacle;

[0027] If the pre-collision time is continuously less than the second safety threshold, the vehicle is judged whether it can safely turn and change lanes based on the situation of the adjacent lanes.

[0028] If the vehicle can make a safe turn and lane change, the vehicle will be controlled to turn and change lanes into a safe adjacent lane.

[0029] As an optional technical solution, if the vehicle cannot make a safe turn and change lanes, then:

[0030] Obtain information about obstacles ahead of the lane, and based on the information about the vehicle and the obstacles ahead of the lane, determine whether the vehicle is likely to accelerate in the lane:

[0031] If it exists, calculate the acceleration of the vehicle when it moves away from the obstacle behind without rear-ending the obstacle in front, and accelerate the vehicle;

[0032] If it does not exist, then:

[0033] Calculate the fourth collision speed when the obstacle behind the own lane collides with the own vehicle, the fifth collision speed when the own vehicle collides with the obstacle on the first lane adjacent to the left, and the sixth collision speed when the own vehicle collides with the obstacle on the second lane adjacent to the right;

[0034] If it is determined that the fourth collision speed is greater than the preset personal safety speed threshold, a smaller value between the fifth collision speed and the sixth collision speed is determined, and the vehicle is controlled to collide along a collision direction corresponding to the smaller value.

[0035] As an optional technical solution, if it is determined that the fourth collision speed is less than the preset personal safety speed threshold, the HMI instrument will be used to remind the driver of the vehicle coming from behind and require the driver to take over.

[0036] A second aspect of the present invention provides a vehicle emergency collision avoidance control system.

[0037] Vehicle emergency collision avoidance control system, including:

[0038] The brake control module is configured to: obtain information about the vehicle and the obstacle in front of the lane, determine whether there is a risk of collision between the two, and if there is a risk of collision, activate the AEB function to brake the vehicle;

[0039] The steering control module is configured to: if there is still a risk of collision with an obstacle in front of the lane after braking the vehicle, obtain information about obstacles in lanes adjacent to the lane, and activate the AES function to control the steering of the vehicle;

[0040] The collision selection control module is configured to: determine whether there is a risk of collision with an obstacle in an adjacent lane after the vehicle turns; if so, evaluate the collision severity of the vehicle colliding with the obstacle in front of the lane and the collision severity of the vehicle colliding with the obstacle in the adjacent lane, and select the direction with the smallest collision severity for collision.

[0041] A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the vehicle emergency collision avoidance control method as described in the first aspect of the present invention.

[0042] The fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the vehicle emergency collision avoidance control method as described in the first aspect of the present invention are implemented.

[0043] One or more of the above technical solutions have the following beneficial effects:

[0044] The present invention provides a vehicle emergency collision avoidance control method and system, which not only considers the situation that the vehicle rear-ends the vehicle in front, but also considers the situation that the rear vehicle rear-ends the vehicle, and makes comprehensive use of the AEB system and the AES system to judge the conditions for turning and changing lanes. When the vehicle is in danger of collision with the vehicle in front, if there is still a risk of collision when the AEB emergency brake is activated, the AES emergency steering function can be activated to avoid the collision: when the steering condition is met, the steering is performed in time; when the steering condition is not met, the controller calculates that the vehicle is in danger of collision with the vehicle in front of the lane and the vehicle in front of the adjacent lane, and evaluates the degree of damage to the vehicle when it collides with the vehicle in front or the adjacent lane, and decides whether the vehicle collides with the vehicle in front or the adjacent lane.

[0045] In case that a rear vehicle rear-ends the vehicle, the present invention lights up the brake lights based on the pre-collision time between the rear vehicle and the vehicle. If the pre-collision time is too short, the vehicle is given priority to turn and change lanes. When the vehicle cannot turn and change lanes safely, consider whether it is possible to accelerate in the lane to avoid the rear vehicle. If acceleration is not possible and the estimated collision speed of the rear vehicle with the vehicle is too high and threatens the personal safety of the driver of the vehicle, a selective collision will be performed on the adjacent lane to minimize personal injury to the driver of the vehicle and effectively avoid the rear vehicle.

[0046] The present invention makes comprehensive use of the control of ESP and EPS, proposes a logical framework for collision avoidance and collision reduction based on vehicle-mounted sensor technology, and determines the collision avoidance strategy adopted by the vehicle under different working conditions through algorithm calculation, so it has strong adaptability and high reliability.

[0047] The present invention mainly improves the logic strategy and performance of the software algorithm, does not change the sensor layout and traditional structure of the existing automobile, has low cost and high feasibility.

[0048] The present invention not only avoids obstacles ahead, but also takes into account the risk of rear-end collision with vehicles coming from behind, and can effectively cope with complex environments.

[0049] The present invention organically combines an automatic emergency braking system AEB and an automatic emergency steering system AES, thereby increasing the stability of the entire obstacle avoidance system.

[0050] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0052] Figure 1 This is a flow chart of the method of the first embodiment. DETAILED DESCRIPTION

[0053] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0054] It should be noted that the terms used herein are for describing specific embodiments only and are not intended to be limiting of exemplary embodiments according to the present invention.

[0055] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0056] Embodiment 1

[0057] This embodiment discloses a vehicle emergency collision avoidance control method, which not only considers the situation where the vehicle rear-ends the vehicle in front, but also considers the situation where the vehicle behind rear-ends the vehicle. The overall judgment logic is:

[0058] If your vehicle rear-ends the vehicle ahead in the same lane:

[0059] The AEB system and AES system are used in combination to determine the conditions for turning and changing lanes. When the vehicle is in danger of colliding with the vehicle in front, if there is still a risk of collision when the AEB emergency brake is activated, the AES emergency steering function can be activated to avoid the collision: when the steering conditions are met, the steering is performed in time; when the steering conditions are not met, the controller calculates that the vehicle is in danger of colliding with the vehicle in front of the lane and the vehicle in front of the adjacent lane, and evaluates the degree of damage to the vehicle when it collides with the vehicle in front or the adjacent lane, and decides whether the vehicle collides with the vehicle in front or the adjacent lane.

[0060] In case the vehicle behind you rear-ends your vehicle:

[0061] The brake lights are turned on based on the pre-collision time between the rear vehicle and this vehicle. If the pre-collision time is too short, the vehicle will be given priority to turn and change lanes. When the vehicle cannot turn and change lanes safely, consider whether it can accelerate in the lane to avoid the rear vehicle. If acceleration is not possible, and the estimated collision speed of the rear vehicle with this vehicle is too high and threatens the personal safety of the driver of this vehicle, a selective collision will be carried out on the adjacent lane to minimize personal injury to the driver of this vehicle and effectively avoid the rear vehicle.

[0062] like Figure 1 As shown, the vehicle emergency collision avoidance control method provided in this embodiment includes a front obstacle emergency collision avoidance control method, which specifically includes the following steps:

[0063] Obtain information about the vehicle and the obstacle ahead of the lane to determine whether there is a risk of collision between the two. If there is a risk of collision, activate the AEB function to brake the vehicle;

[0064] If there is still a risk of collision with the obstacle in front of the lane after braking, the information of the obstacle in the adjacent lane is obtained, and the AES function is activated to control the steering of the vehicle;

[0065] Determine whether there is a risk of collision with an obstacle in the adjacent lane when the vehicle is steering. If so, evaluate the collision severity of the vehicle's collision with the obstacle in front of the lane and the collision severity of the vehicle's collision with the obstacle in the adjacent lane, and choose the direction with the smallest collision severity to collide.

[0066] Furthermore, in some embodiments, information about the vehicle and the obstacle ahead of the lane is obtained to determine whether there is a risk of collision between the two. If there is a risk of collision, the AEB function is activated to perform braking control on the vehicle, specifically including:

[0067] Obtaining the speed and distance of the vehicle and the obstacle in front of the lane respectively, and calculating the pre-collision time between the vehicle and the obstacle in front of the lane, wherein the obstacle includes a static obstacle and a dynamic obstacle, and the dynamic obstacle includes a vehicle;

[0068] Calculate the vehicle's braking deceleration based on the pre-collision time and determine whether the vehicle's braking deceleration is too large:

[0069] If the braking deceleration of the vehicle is too large, it means that there is still a risk of collision with the obstacle in front of the lane after braking the vehicle. At this time, the AES function of the vehicle is activated to control the steering;

[0070] If the braking deceleration of the vehicle is within the normal range, it means that there will be no risk of collision with the obstacle in front of the lane after braking the vehicle. At this time, the AEB function of the vehicle is activated for braking control.

[0071] It can be understood that the pre-collision time between the vehicle and the obstacle in front of the lane is calculated based on the speed and distance between the vehicle and the obstacle in front of the lane. The specific calculation process is common knowledge in the art and will not be elaborated here. The overall improvement of this embodiment lies in the improvement of control logic, and the calculation process known in the art can adopt the existing technology.

[0072] In some embodiments, if there is still a risk of collision with an obstacle in front of the lane after braking the vehicle, information of obstacles in lanes adjacent to the lane is obtained, and the AES function is activated to control the steering of the vehicle, specifically including:

[0073] Obtain the speed and distance of obstacles on the left side, left front side, left rear side of the vehicle in the first lane adjacent to the left side of the vehicle, and on the right side, right front side, and right rear side of the vehicle in the second lane adjacent to the right side of the vehicle, and determine whether the vehicle can safely turn and change lanes based on the speed of the vehicle;

[0074] Determine the adjacent lane into which the vehicle can safely turn and change lanes, and turn and change lanes into the determined first lane or second lane based on the AES function.

[0075] Here, it is considered that there are two lanes adjacent to the lane, namely, the first lane adjacent to the left side of the lane and the second lane adjacent to the right side of the lane. When the vehicle is turned to change lanes into the determined first lane or second lane based on the AES function, the original control method of AES can be used.

[0076] And obtain the speed and distance of the obstacles on the left side, left front side, left rear side of the vehicle in the first lane adjacent to the left side of the vehicle, and on the right side, right front side, and right rear side of the vehicle in the second lane adjacent to the right side of the vehicle. Combined with the speed of the vehicle, the process of judging whether the vehicle can safely turn and change lanes can also be specifically judged using existing technologies, which will not be described in detail here.

[0077] In some embodiments, if it is determined that the vehicle cannot safely turn and change lanes, that is, if it is determined that there is a risk of collision with an obstacle in an adjacent lane after the vehicle turns, then:

[0078] Calculate the first collision speed when the vehicle collides with the obstacle in front of the lane, the second collision speed when the vehicle collides with the obstacle on the first lane adjacent to the left, and the third collision speed when the vehicle collides with the obstacle on the second lane adjacent to the right;

[0079] The minimum value among the first collision speed, the second collision speed and the third collision speed is determined, the collision direction corresponding to the minimum value is used as the direction with the minimum collision severity, and the vehicle is controlled to collide along the collision direction corresponding to the minimum value.

[0080] Compared with the prior art, this embodiment takes into account the situation where a collision is still inevitable after emergency braking and emergency steering control. In this case, the driver's personal safety can be guaranteed as much as possible by controlling the vehicle to collide along the collision direction corresponding to the minimum value as described above.

[0081] In some embodiments, a rear obstacle emergency collision avoidance control method is also included:

[0082] Obtain information about the vehicle and the obstacle behind the lane, calculate the pre-collision time between the two, and if the pre-collision time is less than the first safety threshold, turn on the brake lights to remind the rear obstacle;

[0083] If the pre-collision time is continuously less than the second safety threshold, the vehicle is judged whether it can safely turn and change lanes based on the situation of the adjacent lanes.

[0084] If the vehicle can make a safe turn and lane change, the vehicle will be controlled to turn and change lanes into a safe adjacent lane.

[0085] It can be understood that both the second safety threshold and the first safety threshold can be set manually, wherein the second safety threshold is smaller than the first safety threshold.

[0086] Here, the process of judging whether the vehicle can safely turn and change lanes can be specifically referred to the above description. Similarly, the speed and distance of the obstacles on the left side, left front side, left rear side of the vehicle in the first lane adjacent to the left side of the vehicle and on the right side, right front side, and right rear side of the vehicle in the second lane adjacent to the right side of the vehicle are obtained. Combined with the speed of the vehicle, it is judged whether the vehicle can safely turn and change lanes. The specific process is not described in detail.

[0087] In some embodiments, if the vehicle cannot make a safe turn and change lanes, then:

[0088] Obtain information about obstacles ahead of the lane, and based on the information about the vehicle and the obstacles ahead of the lane, determine whether the vehicle is likely to accelerate in the lane:

[0089] If it exists, calculate the acceleration of the vehicle when it moves away from the obstacle behind without rear-ending the obstacle in front, and accelerate the vehicle;

[0090] If it does not exist, then:

[0091] Calculate the fourth collision speed when the obstacle behind the own lane collides with the own vehicle, the fifth collision speed when the own vehicle collides with the obstacle on the first lane adjacent to the left, and the sixth collision speed when the own vehicle collides with the obstacle on the second lane adjacent to the right;

[0092] If it is determined that the fourth collision speed is greater than the preset personal safety speed threshold, a smaller value between the fifth collision speed and the sixth collision speed is determined, and the vehicle is controlled to collide along a collision direction corresponding to the smaller value.

[0093] It can be understood that, in the face of an emergency collision avoidance with a rear obstacle, this embodiment gives priority to directional avoidance of the rear vehicle, that is, it gives priority to judging whether it can make a turn and change lanes, because this can keep as far away from the rear vehicle as possible; when the turn and change lanes cannot be safely achieved, the vehicle will then judge whether it can accelerate. At this time, the vehicle and the rear vehicle have the same direction of travel, but it tries to avoid the rear vehicle in terms of distance and waits for an opportunity to continue to turn and change lanes. Finally, if the above situations cannot be achieved, that is, there are other vehicles with a close following distance in the adjacent lanes and in front of the lane of the vehicle, in order to improve safety as much as possible and avoid serious injuries to the driver, a selective collision is performed.

[0094] The specific principles of selective collision can also refer to the above content. This is different from the selective collision when the vehicle rear-ends the vehicle in front. It is still preferred to collide with the vehicle in the adjacent lane, so as to avoid the rear vehicle in the direction of travel as much as possible and prevent continuous rear-end collisions.

[0095] In some embodiments, if it is determined that the fourth collision speed is less than a preset personal safety speed threshold, the driver is reminded of the oncoming vehicle via the HMI instrument and is asked to take over.

[0096] The hardware configuration of this embodiment is introduced below. The present invention provides an emergency collision avoidance system based on radar and camera, which monitors the driving environment around the vehicle in real time through the vehicle-mounted radar and camera, sends the information collected by the radar and camera to the processor for analysis and processing, and determines whether an alarm is needed to remind the driver of the danger of collision, whether braking or steering is needed, and then sends instructions to the actuator for execution to achieve the purpose of collision avoidance.

[0097] In order to achieve the expected effect, the present invention realizes the anti-collision function based on radar and camera, wherein the input of the vehicle's surrounding environment information mainly relies on 5 radars (one forward microwave radar, 4 millimeter wave angle radars) and a camera (monocular or binocular), which monitor the vehicles, pedestrians and road conditions around the vehicle in real time, and transmit the information to the controller, which processes the surrounding environment information transmitted back by the radar and camera and the vehicle operation status transmitted back by other sensors of the vehicle, analyzes the current driving environment, and issues instructions to control the vehicle. The output of information is, on the one hand, to issue an alarm to the driver through sound and HMI instrument, reminding the driver to concentrate and possible dangerous collision; on the other hand, by sending instructions to the vehicle ESP, EPS, TCU, the vehicle brakes or emergency turns.

[0098] When the sensor detects that there is an obstacle in front of the vehicle's current lane, the pre-collision time between the vehicle and the obstacle is calculated based on the vehicle's status and the speed and distance of the obstacle in front, and compared with the safety value. It also calculates whether the vehicle's braking deceleration is too large to decide whether to perform emergency braking or emergency steering. When the sensor detects that there is a vehicle approaching rapidly from behind the vehicle and there is a risk of being rear-ended, the brake lights are turned on and the vehicle behind is reminded to maintain a safe distance. If the vehicle behind continues to approach rapidly, the estimated collision time with the vehicle behind is less than a certain safety threshold, and the vehicle automatically turns and changes lanes.

[0099] The technical solution of this embodiment will be explained in detail below with reference to the accompanying drawings:

[0100] In this embodiment, the vehicle emergency collision avoidance system will start running after the vehicle is started. The system will monitor the vehicles and obstacles in front, behind, and on both sides of the vehicle through the on-board radar and camera, and determine whether there is a risk of collision during driving.

[0101] 1. Obtain the vehicle's external environment.

[0102] The traffic environment in front of the vehicle is monitored in real time by sensors such as radar or cameras installed in front of the car, and the traffic environment in adjacent lanes is monitored in real time by radars installed at the four corners of the car or cameras around the vehicle.

[0103] 2. Activate the AEB function.

[0104] When the car's front sensor detects that there is a risk of collision between the car and the vehicle in front, the AEB function will be activated to brake the vehicle.

[0105] 3. Start the AES function.

[0106] When the AEB function is executed and the vehicle is still in danger of collision, the sensor continues to detect the distance between the vehicle and the vehicle in front and determines that there is still a risk of collision between the vehicle and the vehicle in front. If the sensor knows that the adjacent lane is safe at this time, the controller activates the AES function and controls the car to turn into the adjacent safe lane.

[0107] 4. Collision decision.

[0108] After executing the AES function, if the sensor detects the presence of a vehicle in the adjacent lane that may collide with the vehicle in front of the vehicle in the lane and the severity of the collision with the vehicle in the adjacent lane, the controller will then determine the vehicle's driving state and select the direction with the least collision severity.

[0109] 5. Risk of rear collision.

[0110] When the vehicle detects that a vehicle is approaching quickly from behind in the current lane, the pre-collision time between the vehicle and the rear vehicle is calculated based on the vehicle's status and the speed and distance of the rear vehicle. If the pre-collision time is less than the first safety threshold, the brake lights are turned on to remind the rear vehicle to maintain a safe distance. At the same time, the HMI instrument reminds the driver of the risk of rear-end collision.

[0111] If the rear vehicle continues to approach quickly, once the pre-collision time is less than the second safety threshold, the vehicle can be judged whether it can safely turn and change lanes based on the situation of the adjacent lanes:

[0112] If the vehicle can make a safe turn and change lanes, control the vehicle to turn and change lanes into a safe adjacent lane;

[0113] If the vehicle cannot make a safe turn to change lanes, then:

[0114] Obtain information about obstacles ahead of the lane, and based on the information about the vehicle and the obstacles ahead of the lane, determine whether the vehicle is likely to accelerate in the lane:

[0115] If it exists, calculate the acceleration of the vehicle when it moves away from the obstacle behind without rear-ending the obstacle in front, and accelerate the vehicle;

[0116] If it does not exist, a selective collision will be performed to protect the driver of this vehicle as much as possible and minimize his personal injury.

[0117] If it is determined that the collision speed of the rear vehicle against the vehicle is lower than the preset personal safety speed threshold, the HMI instrument will remind the driver of the rear vehicle and ask the driver to take over.

[0118] The above is based on the existing sensor technology solutions and the technology solutions of traditional automobile actuators. The present invention is developed and designed from the software strategy dimension, thereby ensuring the feasibility and safety of the anti-collision system.

[0119] Embodiment 2

[0120] This embodiment discloses a vehicle emergency collision avoidance control system.

[0121] Vehicle emergency collision avoidance control system, including:

[0122] The brake control module is configured to: obtain information about the vehicle and the obstacle in front of the lane, determine whether there is a risk of collision between the two, and if there is a risk of collision, activate the AEB function to brake the vehicle;

[0123] The steering control module is configured to: if there is still a risk of collision with an obstacle in front of the lane after braking the vehicle, obtain information about obstacles in lanes adjacent to the lane, and activate the AES function to control the steering of the vehicle;

[0124] The collision selection control module is configured to: determine whether there is a risk of collision with an obstacle in an adjacent lane after the vehicle turns; if so, evaluate the collision severity of the vehicle colliding with the obstacle in front of the lane and the collision severity of the vehicle colliding with the obstacle in the adjacent lane, and select the direction with the smallest collision severity for collision.

[0125] Embodiment 3

[0126] The purpose of this embodiment is to provide a computer-readable storage medium.

[0127] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the vehicle emergency collision avoidance control method as described in Example 1 of the present disclosure.

[0128] Embodiment 4

[0129] The purpose of this embodiment is to provide an electronic device.

[0130] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the vehicle emergency collision avoidance control method as described in Example 1 of the present disclosure are implemented.

[0131] The steps involved in the apparatuses of the above embodiments 2, 3 and 4 correspond to the method embodiment 1, and the specific implementation methods can refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0132] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0133] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A vehicle emergency collision avoidance control method, characterized in that: The invention comprises a front obstacle emergency collision avoidance control method, which specifically comprises the following steps: Obtain information about the vehicle and the obstacle ahead of the lane to determine whether there is a risk of collision between the two. If there is a risk of collision, activate the AEB function to brake the vehicle. If there is still a risk of collision with the obstacle in front of the lane after braking, the information of the obstacle in the adjacent lane is obtained, and the AES function is activated to control the steering of the vehicle; Determine whether there is a risk of collision with an obstacle in the adjacent lane when the vehicle is steering. If so, evaluate the collision severity of the vehicle's collision with the obstacle in front of the lane and the collision severity of the vehicle's collision with the obstacle in the adjacent lane, and choose the direction with the smallest collision severity to collide.

2. The vehicle emergency collision avoidance control method according to claim 1, characterized in that: Obtain information about the vehicle and the obstacle ahead of the lane to determine whether there is a risk of collision between the two. If there is a risk of collision, activate the AEB function to brake the vehicle, including: Obtaining the speed and distance of the vehicle and the obstacle in front of the lane respectively, and calculating the pre-collision time between the vehicle and the obstacle in front of the lane, wherein the obstacle includes a static obstacle and a dynamic obstacle, and the dynamic obstacle includes a vehicle; Calculate the vehicle's braking deceleration based on the pre-collision time and determine whether the vehicle's braking deceleration is too large: If the braking deceleration of the vehicle is too large, it means that there is still a risk of collision with the obstacle in front of the lane after braking the vehicle. At this time, the AES function of the vehicle is activated to control the steering; If the braking deceleration of the vehicle is within the normal range, it means that there will be no risk of collision with the obstacle in front of the lane after braking the vehicle. At this time, the AEB function of the vehicle is activated for braking control.

3. The vehicle emergency collision avoidance control method according to claim 1, characterized in that: If there is still a risk of collision with the obstacle in front of the lane after braking, the information of the obstacle in the adjacent lane is obtained, and the AES function is activated to control the steering of the vehicle, including: Obtain the speed and distance of obstacles on the left side, left front side, left rear side of the vehicle in the first lane adjacent to the left side of the vehicle, and on the right side, right front side, and right rear side of the vehicle in the second lane adjacent to the right side of the vehicle, and determine whether the vehicle can safely turn and change lanes based on the speed of the vehicle; Determine the adjacent lane into which the vehicle can safely turn and change lanes, and turn and change lanes into the determined first lane or second lane based on the AES function.

4. The vehicle emergency collision avoidance control method according to claim 3, characterized in that: If it is determined that the vehicle cannot make a safe turn and change lanes, that is, if it is determined that there is a risk of collision with an obstacle in the adjacent lane after the vehicle makes a turn, then: Calculate the first collision speed when the vehicle collides with the obstacle in front of the lane, the second collision speed when the vehicle collides with the obstacle on the first lane adjacent to the left, and the third collision speed when the vehicle collides with the obstacle on the second lane adjacent to the right; The minimum value among the first collision speed, the second collision speed and the third collision speed is determined, the collision direction corresponding to the minimum value is used as the direction with the minimum collision severity, and the vehicle is controlled to collide along the collision direction corresponding to the minimum value.

5. The vehicle emergency collision avoidance control method according to claim 1, characterized in that: Also includes rear obstacle emergency collision avoidance control method: Obtain information about the vehicle and the obstacle behind the lane, calculate the pre-collision time between the two, and if the pre-collision time is less than the first safety threshold, turn on the brake lights to remind the rear obstacle; If the pre-collision time is continuously less than the second safety threshold, the vehicle is judged whether it can safely turn and change lanes based on the situation of the adjacent lanes. If the vehicle can make a safe turn and lane change, the vehicle will be controlled to turn and change lanes into a safe adjacent lane.

6. The vehicle emergency collision avoidance control method according to claim 5, characterized in that: If the vehicle cannot make a safe turn to change lanes, then: Obtain information about obstacles ahead of the lane, and based on the information about the vehicle and the obstacles ahead of the lane, determine whether the vehicle is likely to accelerate in the lane: If it exists, calculate the acceleration of the vehicle when it moves away from the obstacle behind without rear-ending the obstacle in front, and accelerate the vehicle; If it does not exist, then: Calculate the fourth collision speed when the obstacle behind the own lane collides with the own vehicle, the fifth collision speed when the own vehicle collides with the obstacle on the first lane adjacent to the left, and the sixth collision speed when the own vehicle collides with the obstacle on the second lane adjacent to the right; If it is determined that the fourth collision speed is greater than the preset personal safety speed threshold, a smaller value between the fifth collision speed and the sixth collision speed is determined, and the vehicle is controlled to collide along a collision direction corresponding to the smaller value.

7. The vehicle emergency collision avoidance control method according to claim 6, characterized in that: If it is determined that the fourth collision speed is less than the preset personal safety speed threshold, the driver is reminded of the oncoming vehicle through the HMI instrument and is asked to take over.

8. Vehicle emergency collision avoidance control system, characterized in that: include: The brake control module is configured to: obtain information about the vehicle and the obstacle in front of the lane, determine whether there is a risk of collision between the two, and if there is a risk of collision, activate the AEB function to brake the vehicle; The steering control module is configured to: if there is still a risk of collision with an obstacle in front of the lane after braking the vehicle, obtain information about obstacles in lanes adjacent to the lane, and activate the AES function to control the steering of the vehicle; The collision selection control module is configured to: determine whether there is a risk of collision with an obstacle in an adjacent lane after the vehicle turns; if so, evaluate the collision severity of the vehicle colliding with the obstacle in front of the lane and the collision severity of the vehicle colliding with the obstacle in the adjacent lane, and select the direction with the smallest collision severity for collision.

9. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle emergency collision avoidance control method as described in any one of claims 1 to 7 are implemented.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the vehicle emergency collision avoidance control method as described in any one of claims 1-7 are implemented.

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