Control method for reducing false triggering of automatic emergency brake system

Abstract

The invention discloses a control method for reducing false triggering of an automatic emergency brake system, and the main design concept of the control method is as follows: in the vehicle driving process, road pictures are continuously collected, and radar detection signals are received in real time; acquiring visual information of an obstacle based on the road picture, and acquiring position relation information of the obstacle and the vehicle based on a radar detection signal; fusing the visual information and the position relation information; and deciding whether to start an emergency braking function or not according to the confidence of the fusion result. According to the method, related factors caused by false triggering of the automatic emergency braking system are analyzed, information, such as visibility, position and speed, of the target object in front of the vehicle, obtained by fusing vision and radar is proposed, the situation of false triggering of the automatic emergency braking system can be remarkably improved, and therefore the performance of the active safety system is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a control method for reducing false triggering of an automatic emergency braking system. Background Art

[0002] The automatic emergency braking system AEB monitors the driving environment in front of the vehicle and automatically activates the vehicle braking system to slow down the vehicle when there is a risk of collision (such as when the distance to the vehicle in front or pedestrians is less than the safe distance) to avoid collision or reduce the occurrence of collision accidents. Unlike traditional passive safety technologies, which are designed to protect people inside and outside the vehicle from or lessen the damage caused by the collision after the collision occurs, AEB is a preventive active safety technology that aims to identify collision risks in advance, completely avoid collisions or reduce the intensity of collisions as much as possible, thereby avoiding rear-end collisions or collisions with pedestrians and other traffic participants. In a broad sense, AEB not only includes emergency braking functions, but also forward collision warnings and emergency braking assistance. The car AEB system uses a distance sensor to measure the distance to the vehicle in front or obstacles, and then uses an electronic control unit to compare the measured distance with the warning distance, safety distance, etc. When it is less than the warning distance, an alarm prompt will be issued. When it is less than the safety distance, even if the driver does not have time to step on the brake pedal, the AEB system will start to automatically brake the car, thereby improving driving safety.

[0003] The existing automatic emergency braking system has the following problems: when the vehicle passes through intersections, road guardrails, and other conditions with many obstacles, it is easy for the radar or camera to identify the target at the lateral speed before the target is lost, and the target information may be misjudged, resulting in the misidentification of off-path targets as on-path targets, which in turn causes the vehicle to activate the AEB function during normal driving, resulting in misidentification. Summary of the invention

[0004] In view of the above, the present invention aims to provide a control method for reducing false triggering of an automatic emergency braking system to solve the above-mentioned technical problems.

[0005] The technical solution adopted by the present invention is as follows:

[0006] The present invention provides a control method for reducing false triggering of an automatic emergency braking system, comprising:

[0007] While the vehicle is driving, it continuously collects road images and receives radar detection signals in real time;

[0008] Obtaining visual information of the obstacle based on the road image, and obtaining positional relationship information between the obstacle and the vehicle based on the radar detection signal;

[0009] fusing the visual information and the positional relationship information;

[0010] Based on the confidence level of the fusion result, a decision is made whether to activate the emergency braking function.

[0011] In at least one possible implementation, the control method further includes: if the road image represents a vehicle traveling at an intersection, and the target in front of the vehicle is detected by the radar detection signal to have a lateral moving speed relative to the vehicle, then the lateral moving speed information is added when fusing the information.

[0012] In at least one possible implementation, the control method further includes: if the target signal detected by the radar is lost, only in the current fusion stage, forcibly improving the confidence of the visual information for the fusion result.

[0013] In at least one possible implementation, the continuous acquisition of road images and real-time reception of radar detection signals include: capturing the target image in front of the vehicle through a forward-looking camera, and using millimeter-wave radar and / or ultrasonic radar to detect the distance and speed of the target in front of the vehicle relative to the vehicle.

[0014] In at least one possible implementation, the front of the vehicle includes the front, left front, and right front of the vehicle in the direction of travel.

[0015] In at least one possible implementation manner, the decision of whether to activate the emergency braking function based on the confidence of the fusion result includes: if the confidence is greater than or equal to a preset threshold, triggering automatic emergency braking.

[0016] Compared with the prior art, the main design concept of the present invention is to continuously collect road images and receive radar detection signals in real time during vehicle driving; obtain visual information of obstacles based on the road images, and obtain positional relationship information between obstacles and the vehicle based on radar detection signals; fuse the visual information and the positional relationship information; and decide whether to activate the emergency braking function based on the confidence of the fusion result. The present invention analyzes the relevant factors that lead to the false triggering of the automatic emergency braking system, and proposes to fuse the visual, position, speed and other information of the target in front of the vehicle obtained by vision and radar, which can significantly improve the false triggering of the automatic emergency braking system function, thereby greatly improving the performance of the active safety system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings, in which:

[0018] Figure 1 A schematic diagram of a control method for reducing false triggering of an automatic emergency braking system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0020] Existing technical solutions propose three types of application environments for the AEB system (automatic emergency braking system), namely, a city-specific AEB system, a highway-specific AEB control system, and a pedestrian protection-specific AEB system.

[0021] 1) City-specific AEB system. Most urban traffic accidents occur when waiting at intersections or in traffic jams, because the driver's attention is distracted and he ignores his own speed and the distance to the vehicle in front, resulting in collision accidents. The characteristics of driving in the city are slow speed and easy to have minor collisions. The city-specific AEB system can monitor the road conditions and vehicle movement ahead. If potential risks are detected, it will take pre-braking measures to remind the driver of the risk; if the driver's instructions are not received within the reaction time, the system will automatically brake to avoid accidents. At any point in time, if the driver takes measures such as emergency braking or slamming the steering wheel, the system will stop.

[0022] 2) AEB system for highways. Accidents on highways have different characteristics compared to urban traffic accidents. Drivers on highways may be driving fatigued and unable to control the vehicle when they realize the danger. In order to ensure safety in such driving conditions, the AEB system must be able to respond with corresponding control strategies. The system works when the vehicle is driving at high speed. First, it alerts the driver of potential dangers through an alarm. If the driver does not respond within the reaction time, the second warning system will be activated, such as sudden braking or tightening of the seat belt. At this time, the brake will be adjusted to the pre-braking state; if the driver still does not respond, the system will automatically apply the brakes.

[0023] 3) AEB system dedicated to pedestrian protection. In addition to detecting vehicles on the road, there is also a type of AEB system that is used to detect pedestrians and other vulnerable groups on the road. Through the image transmitted by a front camera on the car, the shape and characteristics of the pedestrian can be identified, and the path of relative motion can be calculated to determine whether there is a danger of collision. If there is a danger, the system can issue a warning, and within a safe distance, the braking system uses full braking to stop the vehicle. In actual situations, it is difficult to predict pedestrian behavior, and the algorithm for system control is also very complex. The system needs to make correct judgments more quickly and respond more effectively before the danger occurs to prevent dangerous situations from occurring. At the same time, it is also necessary to avoid the system from being falsely triggered under certain circumstances.

[0024] In view of the above, the present invention proposes an embodiment of a control method for reducing false triggering of an automatic emergency braking system. Specifically, Figure 1 shown, including:

[0025] Step S1: During the driving process of the vehicle, continuously collect road images and receive radar detection signals in real time;

[0026] Step S2, obtaining visual information of the obstacle based on the road image, and obtaining positional relationship information between the obstacle and the vehicle based on the radar detection signal;

[0027] Step S3, fusing the visual information and the position relationship information;

[0028] Step S4: decide whether to activate the emergency braking function according to the confidence of the fusion result.

[0029] In actual implementation, the front image of the moving vehicle can be captured by the front camera (based on the image acquisition perspective, preferably including the left front, right front and front within a preset angle range), and the visual information of the obstacle in front can be obtained from the image based on feature extraction, feature classification, analysis and processing; at the same time, the vehicle-mounted millimeter wave radar and / or ultrasonic radar can also be combined to detect the target in front of the vehicle (also based on the radar layout position and detection range, it can include the left front, right front and front within a predetermined distance), and the spatial position relationship of the detected target relative to the vehicle, such as distance information, can be calculated. Then, the visual information and distance information of the target object are fused together through the control unit of the automatic emergency braking system.

[0030] This is because the camera "sees" an image composed of pixels, while the signals emitted and recovered by millimeter-wave and ultrasonic radars can be used by the Doppler principle to determine the relative speed, distance and other information of the object. However, the content perceived by the radar is equivalent to a "point cloud". Therefore, the present invention proposes the need to fuse it with the pixel data perceived by the camera to comprehensively judge the current working conditions.

[0031] For example, if the confidence level of the fused data obtained after the emergency braking system integrates the above information is lower than the established threshold, it can be considered that the current condition is not an emergency braking condition, and monitoring should still be maintained; if the confidence level of the fused data is greater than or equal to the aforementioned threshold, the emergency braking conditions are met, the emergency braking function is quickly activated, and the vehicle's braking execution unit is automatically controlled to achieve emergency deceleration of the vehicle.

[0032] Here are some implementation references for specific working conditions. For example, when driving and passing through an intersection (such as identifying that the current intersection is a traffic light through the visual system), the radar can be used to detect a target object with a lateral speed (understandably, the direction of travel of the vehicle is longitudinal) in front of the vehicle. When the visual information and radar information are subsequently fused, the rapidity of the convergence of the lateral speed of the target object can be added, so that the confidence of the fused information is higher;

[0033] In addition, in some other scenarios, if the radar target is lost, the current radar target will be temporarily abandoned, the confidence of the obstacle information detected by the front camera will be improved, and the information captured by the front camera will be used as a temporary judgment basis for automatic emergency braking. That is, the decision on whether the emergency braking function is turned on or not is made only by visual detection information.

[0034] In summary, the main design concept of the present invention is to continuously collect road images and receive radar detection signals in real time during vehicle driving; obtain visual information of obstacles based on the road images, and obtain positional relationship information between obstacles and the vehicle based on radar detection signals; fuse the visual information and the positional relationship information; and decide whether to activate the emergency braking function based on the confidence of the fusion result. The present invention analyzes the relevant factors that lead to the false triggering of the automatic emergency braking system, and proposes to fuse the visual, position, speed and other information of the target in front of the vehicle obtained by vision and radar, which can significantly improve the false triggering of the automatic emergency braking system function, thereby greatly improving the performance of the active safety system.

[0035] If the expressions expressing orientation are mentioned in the embodiments of the present invention, they are relative concepts based on the embodiments. In addition, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, a and b, a and c, b and c, or a and b and c, wherein a, b, c can be single or multiple.

[0036] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings, but the above is only a preferred embodiment of the present invention. It should be noted that the technical features involved in the above embodiments and their preferred methods can be reasonably combined and matched into a variety of equivalent schemes by those skilled in the art without departing from or changing the design ideas and technical effects of the present invention; therefore, the present invention is not limited to the scope of implementation shown in the drawings, and all changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the specification and drawings, should be within the protection scope of the present invention.

Claims

1. A control method for reducing false triggering of an automatic emergency braking system, characterized in that: include: While the vehicle is driving, it continuously collects road images and receives radar detection signals in real time; Obtaining visual information of the obstacle based on the road image, and obtaining positional relationship information between the obstacle and the vehicle based on the radar detection signal; fusing the visual information and the positional relationship information; Based on the confidence level of the fusion result, a decision is made whether to activate the emergency braking function.

2. The control method for reducing false triggering of an automatic emergency braking system according to claim 1, characterized in that: The control method further includes: if the road image represents that the vehicle is traveling at an intersection, and the target in front of the vehicle is detected by the radar detection signal to have a lateral moving speed relative to the vehicle, then the lateral moving speed information is added when fusing the information.

3. The control method for reducing false triggering of an automatic emergency braking system according to claim 1, characterized in that: The control method further includes: if the target signal detected by the radar is lost, only in the current fusion stage, forcibly improving the confidence of the visual information for the fusion result.

4. The control method for reducing false triggering of an automatic emergency braking system according to claim 1, characterized in that: The continuous collection of road images and real-time reception of radar detection signals include: capturing the target image in front of the vehicle through a forward-looking camera, and using a millimeter-wave radar and / or an ultrasonic radar to detect the distance and speed of the target in front of the vehicle relative to the vehicle.

5. The control method for reducing false triggering of an automatic emergency braking system according to claim 4, characterized in that: The front of the vehicle includes the front, left front and right front of the vehicle in the direction of travel.

6. The control method for reducing false triggering of an automatic emergency braking system according to any one of claims 1 to 5, characterized in that: The decision of whether to start the emergency braking function according to the confidence of the fusion result includes: if the confidence is greater than or equal to a preset threshold, triggering automatic emergency braking.

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