Vehicle emergency braking method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a vehicle emergency braking method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps that when it is detected that a pedestrian exists in front, the road condition of a road where a vehicle is located currently is judged; if the road condition is a curve and there is a lane line, acquiring a vehicle speed, a pedestrian movement speed, and a relative transverse distance and a relative longitudinal distance between the vehicle and the pedestrian, and determining the road condition based on the vehicle speed, the pedestrian movement speed, the relative longitudinal distance and the relative transverse distance. Determining longitudinal collision time and transverse collision time of the vehicle and the pedestrian; and whether the vehicle collides with the pedestrian or not is determined based on the transverse collision time and the longitudinal collision time, and if the vehicle collides with the pedestrian, braking processing is executed. By adopting the method, whether the collision with the pedestrian can occur can be efficiently and accurately judged, so that emergency braking can be adopted.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a vehicle emergency braking method, apparatus, computer equipment, computer-readable storage medium, and computer program product. Background Art

[0002] In recent years, with the continuous development of automobile technology, the number of cars in my country has also increased year by year, and the number of traffic accidents has increased dramatically. As a key safety technology, the automatic emergency braking system (AEB) has gradually attracted widespread attention. Studies have shown that vehicles equipped with AEB can effectively reduce the occurrence of traffic accidents.

[0003] Compared with motor vehicles, the trajectories of pedestrians and two-wheeled vehicles are more divergent and diversified, easily affected by other obstacles, and difficult to predict. Usually, the movement trajectory of pedestrians in traffic scenes needs to consider not only the pedestrians' own historical movement trajectory and kinematic characteristics, but also the environment around the pedestrians (such as obstacles, sidewalks, traffic lights, etc.), as well as the interaction between pedestrians and other pedestrians. This is not only difficult to calculate, but also requires a large amount of fusion calculations, and the efficiency of executing AEB is low. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle emergency braking method, device, computer equipment, computer-readable storage medium and computer program product that can efficiently determine the situation of collision with pedestrians and perform emergency braking in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle emergency braking method, comprising:

[0006] When a pedestrian is detected ahead, the road condition of the vehicle is determined;

[0007] If the road condition is a curve and there are lane lines, the vehicle speed, the pedestrian speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the longitudinal collision time and the lateral collision time between the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance;

[0008] Based on the lateral collision time and the longitudinal collision time, it is determined whether the vehicle will collide with the pedestrian, and if a collision is likely to occur, a braking process is performed.

[0009] In one embodiment, the obtaining of the vehicle speed, the pedestrian movement speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian comprises:

[0010] Acquire vehicle speed; take the vehicle's forward direction as the longitudinal direction and the vehicle's left side direction as the lateral direction; determine the pedestrian's longitudinal speed, pedestrian's lateral speed, longitudinal distance and lateral distance between the vehicle and the pedestrian based on the longitudinal direction and the lateral direction; use the longitudinal distance as the relative longitudinal distance; use the pedestrian's longitudinal speed and the pedestrian's lateral speed as the pedestrian's moving speed; determine a formula for calculating the relative lateral distance; determine the relative lateral distance between the lane line and the pedestrian based on the relative longitudinal distance and the formula for calculating the relative lateral distance as the relative lateral distance.

[0011] In one embodiment, determining the longitudinal collision time and the lateral collision time of the vehicle and the pedestrian based on the vehicle speed, the pedestrian movement speed, the relative lateral distance and the relative longitudinal distance includes:

[0012] The longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is greater than a first preset value, the longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is not greater than the first preset value, the lateral collision time between the vehicle and the pedestrian is determined based on the lateral speed of the pedestrian and the relative lateral distance.

[0013] In one embodiment, determining the lateral collision time between the vehicle and the pedestrian based on the lateral speed of the pedestrian and the relative lateral distance includes:

[0014] Acquire lane line width and vehicle width; determine a minimum lateral distance based on the relative lateral distance and the lane line width; determine a maximum lateral distance based on the relative lateral distance and the vehicle width; determine a first lateral collision time based on the minimum lateral distance and the pedestrian lateral speed; determine a second lateral collision time based on the relative lateral distance and the pedestrian lateral speed; determine a third lateral collision time based on the maximum lateral distance and the pedestrian lateral speed; the first lateral collision time, the second lateral collision time and the third lateral collision time together constitute the lateral collision time.

[0015] In one embodiment, the determining whether a collision with the pedestrian will occur based on the lateral collision time and the longitudinal collision time includes:

[0016] If the first lateral collision time is greater than the longitudinal collision time, no collision with the pedestrian will occur; if the first lateral collision time is not greater than the longitudinal collision time, and the second lateral collision time is greater than the longitudinal collision time, a first collision event with the pedestrian will occur; if the second lateral collision time plus the first lateral collision time is not greater than the longitudinal collision time, and the third lateral collision time is greater than the longitudinal collision time, a second collision event with the pedestrian will occur; if the third lateral collision time is not greater than the longitudinal collision time, no collision with the pedestrian will occur.

[0017] In one embodiment, the method further comprises:

[0018] If the road condition is a straight road with lane lines, or the steering wheel angle speed is within a threshold range, the vehicle speed, pedestrian movement speed, longitudinal collision distance and lateral collision distance of the vehicle and pedestrian are obtained; based on the vehicle speed, the pedestrian movement speed, the longitudinal collision distance and the lateral collision distance, the longitudinal collision time and lateral collision time of the vehicle and pedestrian are determined.

[0019] In a second aspect, the present application also provides a vehicle emergency braking device, comprising:

[0020] A detection module, used to determine the road condition of the current road of the vehicle when a pedestrian is detected ahead;

[0021] a time calculation module, for obtaining a vehicle speed, a pedestrian speed, a relative lateral distance and a relative longitudinal distance between the vehicle and the pedestrian if the road condition is a curve and there are lane lines, and determining a lateral collision time and a longitudinal collision time between the vehicle and the pedestrian based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance;

[0022] The braking module is used to determine whether the vehicle will collide with the pedestrian based on the lateral collision time and the longitudinal collision time, and if a collision occurs, perform braking processing.

[0023] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0024] When a pedestrian is detected ahead, the road condition of the vehicle is determined;

[0025] If the road condition is a curve and there are lane lines, the vehicle speed, the pedestrian speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the longitudinal collision time and the lateral collision time between the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance;

[0026] Based on the lateral collision time and the longitudinal collision time, it is determined whether the vehicle will collide with the pedestrian, and if a collision is likely to occur, a braking process is performed.

[0027] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0028] When a pedestrian is detected ahead, the road condition of the vehicle is determined;

[0029] If the road condition is a curve and there are lane lines, the vehicle speed, the pedestrian speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the longitudinal collision time and the lateral collision time between the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance;

[0030] Based on the lateral collision time and the longitudinal collision time, it is determined whether the vehicle will collide with the pedestrian, and if a collision is likely to occur, a braking process is performed.

[0031] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0032] When a pedestrian is detected ahead, the road condition of the vehicle is determined;

[0033] If the road condition is a curve and there are lane lines, the vehicle speed, the pedestrian speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the longitudinal collision time and the lateral collision time between the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance;

[0034] Based on the lateral collision time and the longitudinal collision time, it is determined whether the vehicle will collide with the pedestrian, and if a collision is likely to occur, a braking process is performed.

[0035] In the above-mentioned vehicle emergency braking method, when a pedestrian is detected ahead, the road condition of the current road of the vehicle is determined; if the road condition is a curve and there is a lane line, the vehicle speed, the pedestrian movement speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the lateral collision time and the longitudinal collision time of the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian movement speed, the relative longitudinal distance and the relative lateral distance; based on the lateral collision time and the longitudinal collision time, it is determined whether the vehicle will collide with the pedestrian, and if a collision will occur, braking processing is performed. By determining the relative longitudinal distance and relative lateral distance between the vehicle and the pedestrian on a curved road, it is possible to efficiently and accurately determine whether a collision with a pedestrian will occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic flow chart of a vehicle emergency braking method in one embodiment;

[0038] Figure 2 is a schematic diagram of a vehicle emergency braking method in a curve situation in one embodiment;

[0039] Figure 3 is a schematic diagram of a vehicle emergency braking method on a straight road in one embodiment;

[0040] Figure 4 is a flow chart of a vehicle emergency braking method on a straight road in one embodiment;

[0041] Figure 5 is a structural block diagram of a vehicle emergency brake device in one embodiment;

[0042] Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] In one embodiment, Figure 1As shown, a vehicle emergency braking method is provided. This embodiment uses the method applied to a terminal as an example for illustration. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0045] Step 102, when a pedestrian is detected ahead, determine the road condition of the road the vehicle is currently on.

[0046] Among them, detection is carried out through cameras and radars.

[0047] Among them, road conditions include: straight road or curve, whether there are lane lines and steering wheel angle speed.

[0048] For example, when the presence of pedestrians ahead is detected by the camera and radar, the road condition of the current road on which the vehicle is located is determined.

[0049] Step 104, if the road condition is a curve and there are lane lines, the vehicle speed, the pedestrian movement speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the lateral collision time and the longitudinal collision time between the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian movement speed, the relative longitudinal distance and the relative lateral distance.

[0050] Among them, the vehicle speed is the current vehicle speed, and the pedestrian movement speed, the relative lateral distance between the vehicle and the pedestrian, and the relative longitudinal distance are collected by the camera and radar.

[0051] Among them, the longitudinal distance is the vertical distance of the pedestrian in front of the vehicle, and the lateral distance is the vertical distance of the pedestrian relative to the direction of the vehicle.

[0052] Exemplarily, if the road condition is a curve and there is no lane line, no operation is performed; if the road condition is a curve and there is a lane line, the vehicle speed, pedestrian movement speed, relative lateral distance and relative longitudinal distance between the vehicle and the pedestrian are obtained, and based on the vehicle speed, the pedestrian movement speed, the relative longitudinal distance and the relative lateral distance, the lateral collision time and longitudinal collision time of the vehicle and the pedestrian are determined.

[0053] Step 106 : determining whether the vehicle will collide with the pedestrian based on the lateral collision time and the longitudinal collision time, and performing braking processing if a collision will occur.

[0054] Among them, before executing the braking process, a first-level alarm and a second-level alarm will be issued. If a collision still occurs, the braking process will be executed.

[0055] Exemplarily, whether the vehicle will collide with a pedestrian is determined based on the lateral collision time and the longitudinal collision time. If a collision occurs, the first and second alarms are issued in sequence. If a collision still occurs after the second alarm, braking processing is performed.

[0056] In the above-mentioned vehicle emergency braking method, when a pedestrian is detected ahead, the road condition of the current road of the vehicle is determined; if the road condition is a curve and there is a lane line, the vehicle speed, the pedestrian movement speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the lateral collision time and the longitudinal collision time of the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian movement speed, the relative longitudinal distance and the relative lateral distance; based on the lateral collision time and the longitudinal collision time, it is determined whether the vehicle will collide with the pedestrian, and if a collision will occur, braking processing is performed. By determining the relative longitudinal distance and relative lateral distance between the vehicle and the pedestrian on a curved road, it is possible to efficiently and accurately determine whether a collision with a pedestrian will occur.

[0057] In an exemplary embodiment, the obtaining of the vehicle speed, the pedestrian movement speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian includes:

[0058] Acquire vehicle speed; take the vehicle's forward direction as the longitudinal direction and the vehicle's left side direction as the lateral direction; determine the pedestrian's longitudinal speed, pedestrian's lateral speed, longitudinal distance and lateral distance between the vehicle and the pedestrian based on the longitudinal direction and the lateral direction; take the longitudinal distance as the relative longitudinal distance; take the pedestrian's longitudinal speed and the pedestrian's lateral speed as the pedestrian's moving speed; determine a formula for calculating the relative lateral distance; determine the relative lateral distance based on the relative longitudinal distance and the formula for calculating the relative lateral distance.

[0059] Exemplarily, the vehicle speed at the current moment is obtained, with the vehicle's forward direction as the longitudinal direction and the vehicle's left side direction as the lateral direction; based on the longitudinal direction and the lateral direction, the longitudinal speed of the pedestrian in the longitudinal direction, the lateral speed of the pedestrian in the lateral direction, the longitudinal distance and the lateral distance between the vehicle and the pedestrian are determined; the longitudinal distance is used as the relative longitudinal distance; the longitudinal speed of the pedestrian and the lateral speed of the pedestrian are used as the pedestrian's movement speed; and a formula for calculating the relative lateral distance between the lane line and the pedestrian is determined, the formula being as follows:

[0060] + ,

[0061] in, is the distance from the front of the vehicle to the center line of the lane. It is the angle between the vehicle's front direction and the lane centerline. is the curvature, is the curvature change rate; based on the relative longitudinal distance and the formula for calculating the relative lateral distance, the relative lateral distance is determined.

[0062] In this embodiment, the lateral distance obtained is the relative lateral distance between the lane line and the pedestrian, rather than the lateral distance based on the vehicle itself to the pedestrian. This can prevent large errors in calculation in curved conditions, which may lead to false triggering of emergency braking.

[0063] In an exemplary embodiment, determining the lateral collision time and the longitudinal collision time of the vehicle and the pedestrian based on the vehicle speed, the pedestrian movement speed, the relative lateral distance and the relative longitudinal distance includes:

[0064] The longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is greater than a first preset value, the longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is not greater than the first preset value, the lateral collision time between the vehicle and the pedestrian is determined based on the lateral speed of the pedestrian and the relative lateral distance.

[0065] Optionally, the first preset value may be 2.3 seconds.

[0066] Exemplarily, based on the vehicle speed, the pedestrian longitudinal speed and the relative longitudinal distance, the longitudinal collision time between the vehicle and the pedestrian is calculated using the following formula:

[0067] ,

[0068] in, is the longitudinal collision time, Relative vertical distance, is the minimum safe distance between vehicles and pedestrians, which can be 2 meters. is the vehicle speed, is the longitudinal speed of the pedestrian. If the longitudinal collision time is greater than 2.3 seconds, the longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the pedestrian longitudinal speed and the relative longitudinal distance; if the longitudinal collision time is not greater than 2.3 seconds, the lateral collision time between the vehicle and the pedestrian is calculated based on the pedestrian lateral speed and the relative lateral distance.

[0069] In this embodiment, when the longitudinal collision time is greater than the safety time, it is safe and no determination is made as to whether a lateral collision will occur. When the longitudinal collision time is not greater than the safety time, a collision may occur and then a determination is made as to whether a lateral collision will occur. This can accurately determine whether a collision event will occur.

[0070] In an exemplary embodiment, determining the lateral collision time between the vehicle and the pedestrian based on the lateral speed of the pedestrian and the relative lateral distance includes:

[0071] Acquire lane line width and vehicle width; determine a minimum lateral distance based on the relative lateral distance and the lane line width; determine a maximum lateral distance based on the relative lateral distance and the vehicle width; determine a first lateral collision time based on the minimum lateral distance and the pedestrian lateral speed; determine a second lateral collision time based on the relative lateral distance and the pedestrian lateral speed; determine a third lateral collision time based on the maximum lateral distance and the pedestrian lateral speed; the first lateral collision time, the second lateral collision time and the third lateral collision time together constitute the lateral collision time.

[0072] For example, Figure 2 As shown, the positive direction of the X axis is the longitudinal direction, and the positive direction of the Y axis is the transverse direction. , and is the longitudinal distance and lateral distance between the vehicle and the pedestrian when the vehicle is used as the coordinate system, and are the longitudinal and lateral speeds of the pedestrian. As the relative longitudinal distance AC, the relative lateral distance AE is obtained by the following formula:

[0073] ,

[0074] Get lane width and vehicle width ; Based on relative lateral distance AE and lane width ; Determine the minimum lateral distance AF, the formula is:

[0075] ,

[0076] Based on the relative lateral distance AE and the vehicle width , determine the maximum lateral distance AD, the formula is:

[0077] ,

[0078] Based on the minimum lateral distance AF and the lateral speed of the pedestrian during the AF phase , determine the first lateral collision time , the formula is:

[0079] ,

[0080] in, is the speed of the pedestrian during the AF phase. Based on the relative lateral distance AF and the lateral speed of the pedestrian , determine the second lateral collision time; the lateral speed of the pedestrian in the DF stage should not be directly used as the lateral speed relative to the vehicle given by the radar, because pedestrians will walk in the opposite direction out of instinct when they encounter danger, so the movement of pedestrians at this time is diversified and unpredictable. Differentiate AD and then perform a simple first-order filter to calculate the instantaneous speed of the pedestrian relative to the lane line. After calculating the instantaneous speed, perform a discrete definite integral on the instantaneous speed and divide it by time to obtain the lateral speed of the pedestrian in the DF stage , the formula is as follows:

[0081] ,

[0082] in, It's exercise time. is the coefficient, is the instantaneous speed in the AD phase, is the delay, the parameter is multiplied by Indicates the value of this parameter in the previous cycle. Calculate the second lateral collision time The formula is:

[0083] ,

[0084] , based on the maximum lateral distance AD ​​and the pedestrian lateral speed , determine the third lateral collision time , the formula is:

[0085] ,

[0086] First lateral impact time , Second lateral collision time and the third lateral collision time Together they make up the lateral collision time.

[0087] In this embodiment, different lateral collision times are determined, and whether a collision will occur and what type of collision will occur can be judged according to the different lateral collision times, so as to be used for judging and taking subsequent decisions.

[0088] In an exemplary embodiment, the determining whether a collision with the pedestrian will occur based on the lateral collision time and the longitudinal collision time includes:

[0089] If the first lateral collision time is greater than the longitudinal collision time, no collision with the pedestrian will occur; if the first lateral collision time is not greater than the longitudinal collision time, and the second lateral collision time is greater than the longitudinal collision time, a first collision event with the pedestrian will occur; if the second lateral collision time plus the first lateral collision time is not greater than the longitudinal collision time, and the third lateral collision time is greater than the longitudinal collision time, a second collision event with the pedestrian will occur; if the third lateral collision time is not greater than the longitudinal collision time, no collision with the pedestrian will occur.

[0090] For example, if the first lateral collision time Longitudinal collision time , no collision will occur. If the first lateral collision time No more than longitudinal collision time , and the second lateral collision time Longitudinal collision time , the vehicle will collide with the pedestrian in the EF stage, and the driver should be reminded to change lanes to the left. Plus the first lateral impact time After that, no longer than the longitudinal collision time , and the third lateral collision time Longitudinal collision time , the vehicle will collide with the pedestrian in the DE stage, and the driver should be reminded to change lanes to the right. No more than longitudinal collision time , no collision will occur.

[0091] In this embodiment, by analyzing the lateral collision time and the longitudinal collision time in different situations, it can be accurately determined whether the vehicle will collide with the pedestrian.

[0092] In an exemplary embodiment, the method further comprises:

[0093] If the road condition is a straight road with lane lines, or the steering wheel angle speed is within a threshold range, the vehicle speed, pedestrian movement speed, longitudinal collision distance and lateral collision distance of the vehicle and pedestrian are obtained; based on the vehicle speed, the pedestrian movement speed, the longitudinal collision distance and the lateral collision distance, the longitudinal collision time and lateral collision time of the vehicle and pedestrian are determined.

[0094] Optionally, the corresponding relationship between the vehicle speed (km / h) and the steering wheel angle (deg) threshold is: 20 km / h: 35 deg, 30 km / h: 30 deg, 40 km / h: 20 deg, 50 km / h: 20 deg, 60 km / h: 20 deg, 70 km / h: 15 deg, 80km / h: 15 deg, 90 km / h: 15 deg, 100 km / h: 10 deg. The corresponding relationship between the vehicle speed (km / h) and the steering wheel speed (deg) threshold is: 20 km / h: 60 deg, 30 km / h: 50 deg, 40 km / h: 40 deg, 50 km / h: 40 deg, 60 km / h: 40 deg, 70 km / h: 30 deg, 80 km / h: 30 deg, 90 km / h: 25 deg, 100 km / h: 20 deg. For example, when the vehicle speed is 20 km / h, the steering wheel angle threshold is 35 degrees, and the steering wheel speed is 60 degrees, where deg is the abbreviation of degree.

[0095] Optional, such as Figure 3 The diagram is a straight line diagram, with the positive direction of the X axis being the longitudinal direction and the positive direction of the Y axis being the transverse direction. and is the longitudinal distance and lateral distance between the vehicle and the pedestrian when the vehicle is used as the coordinate system, and are the longitudinal and lateral velocities of the pedestrian.

[0096] For example, Figure 4 As shown, if the road condition is a straight road and there are lane lines, or the steering wheel angle speed is within the threshold range, the longitudinal collision distance and lateral collision distance of the vehicle and the pedestrian, the pedestrian life cycle, the pedestrian longitudinal speed and the pedestrian lateral speed are obtained. When the pedestrian life cycle is greater than 0.5 seconds, that is, when the detected existence time exceeds 0.5 seconds, the target pedestrian is valid, otherwise the target pedestrian is ignored. The longitudinal collision distance, lateral collision distance, pedestrian longitudinal speed and pedestrian lateral speed of the valid target pedestrian are filtered using a low-pass filter. The longitudinal collision time is calculated using the following formula:

[0097] ,

[0098] in, is the longitudinal collision time, Relative vertical distance, is the minimum safe distance between vehicles and pedestrians, which can be 2 meters. is the vehicle speed, is the longitudinal velocity of the pedestrian. When it is less than 2.3 seconds, calculate the lateral collision time using the following formula:

[0099] ,

[0100] ,

[0101] in, is the vehicle width, is the time it takes for the pedestrian to walk to the left side of the vehicle. It is the time when the pedestrian walks to the right side of the vehicle and collides with the vehicle. Not less than 2.3 seconds, and If the time is no more than 2.3 seconds, a collision may occur. If a collision may occur, the first and second alarms are triggered in sequence, and each alarm lasts for 1.4 seconds. After the second alarm, the lateral displacement is calculated to determine whether the lateral displacement is greater than the threshold. The formula is as follows:

[0102] ,

[0103] in, is the current position of the pedestrian in the lateral direction, is the initial position of the pedestrian, a is the acceleration, t is the time, Displacement coefficient, when For lateral movement displacement, when it is greater than the threshold, a collision will occur and emergency braking will be performed.

[0104] In an exemplary embodiment, a vehicle emergency braking method, when a pedestrian is detected in front through a camera and a radar, determines the road condition of the road the vehicle is currently on. If the road condition is a curve and there is a lane line, the vehicle speed at the current moment is obtained, with the vehicle's forward direction as the longitudinal direction and the vehicle's left side direction as the lateral direction; based on the longitudinal direction and the lateral direction, the longitudinal speed of the pedestrian in the longitudinal direction, the lateral speed of the pedestrian in the lateral direction, the longitudinal distance and the lateral distance between the vehicle and the pedestrian are determined; the longitudinal distance is used as the relative longitudinal distance; the longitudinal speed of the pedestrian and the lateral speed of the pedestrian are used as the pedestrian's movement speed; and a formula for calculating the relative lateral distance between the lane line and the pedestrian is determined, the formula is as follows:

[0105] + ,

[0106] in, is the distance from the front of the vehicle to the center line of the lane. It is the angle between the vehicle's front direction and the lane centerline. is the curvature, is the curvature change rate; based on the relative longitudinal distance and the formula for calculating the relative lateral distance, the relative lateral distance is determined. Based on the vehicle speed, the pedestrian longitudinal speed and the relative longitudinal distance, the longitudinal collision time between the vehicle and the pedestrian is calculated, and the calculation formula is as follows:

[0107] ,

[0108] in, is the longitudinal collision time, Relative vertical distance, is the minimum safe distance between vehicles and pedestrians, which can be 2 meters. is the vehicle speed, is the longitudinal speed of the pedestrian. If the longitudinal collision time is greater than 2.3 seconds, the longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the pedestrian longitudinal speed and the relative longitudinal distance; if the longitudinal collision time is not greater than 2.3 seconds, the lateral collision time between the vehicle and the pedestrian is calculated based on the pedestrian lateral speed and the relative lateral distance. The longitudinal distance is taken as the relative longitudinal distance AC, so the relative lateral distance AE is obtained by the following formula:

[0109] ,

[0110] Get lane width and vehicle width ; Based on relative lateral distance AE and lane width ; Determine the minimum lateral distance AF, the formula is:

[0111] ,

[0112] Based on the relative lateral distance AE and the vehicle width , determine the maximum lateral distance AD, the formula is:

[0113] ,

[0114] Based on the minimum lateral distance AF and the lateral speed of the pedestrian during the AF phase , determine the first lateral collision time , the formula is:

[0115] ,

[0116] in, is the speed of the pedestrian during the AF phase. Based on the relative lateral distance AF and the lateral speed of the pedestrian , determine the second lateral collision time; the lateral speed of the pedestrian in the DF stage should not be directly used as the lateral speed relative to the vehicle given by the radar, because pedestrians will walk in the opposite direction out of instinct when they encounter danger, so the movement of pedestrians at this time is diversified and unpredictable. Differentiate AD and then perform a simple first-order filter to calculate the instantaneous speed of the pedestrian relative to the lane line. After calculating the instantaneous speed, perform a discrete definite integral on the instantaneous speed and divide it by time to obtain the lateral speed of the pedestrian in the DF stage , the formula is as follows:

[0117] ,

[0118] in, It's exercise time. is the coefficient, is the instantaneous speed in the AD phase, is the delay, the parameter is multiplied by Indicates the value of this parameter in the previous cycle. Calculate the second lateral collision time The formula is:

[0119] ,

[0120] , based on the maximum lateral distance AD ​​and the pedestrian lateral speed , determine the third lateral collision time , the formula is:

[0121] ,

[0122] First lateral impact time , Second lateral collision time and the third lateral collision time Together they constitute the lateral collision time. If the first lateral collision time Longitudinal collision time , no collision will occur. If the first lateral collision time No more than longitudinal collision time , and the second lateral collision time Longitudinal collision time , the vehicle will collide with the pedestrian in the EF stage, and the driver should be reminded to change lanes to the left. Plus the first lateral impact time After that, no longer than the longitudinal collision time , and the third lateral collision time Longitudinal collision time , the vehicle will collide with the pedestrian in the DE stage, and the driver should be reminded to change lanes to the right. No more than longitudinal collision time , no collision will occur. If the road condition is a straight road and there are lane lines, or the steering wheel angle speed is within the threshold range, the longitudinal collision distance and lateral collision distance of the vehicle and pedestrian, the pedestrian life cycle, the pedestrian longitudinal speed and the pedestrian lateral speed are obtained. When the pedestrian life cycle is greater than 0.5 seconds, that is, when the detected existence time exceeds 0.5 seconds, the target pedestrian is valid, otherwise the target pedestrian is ignored. Use a low-pass filter to filter the longitudinal collision distance, lateral collision distance, pedestrian longitudinal speed and pedestrian lateral speed of the valid target pedestrian. Calculate the longitudinal collision time, the calculation formula is as follows:

[0123] ,

[0124] in, is the longitudinal collision time, Relative vertical distance, is the minimum safe distance between vehicles and pedestrians, which can be 2 meters. is the vehicle speed, is the longitudinal velocity of the pedestrian. When it is less than 2.3 seconds, calculate the lateral collision time using the following formula:

[0125] ,

[0126] ,

[0127] in, is the vehicle width, is the time it takes for the pedestrian to walk to the left side of the vehicle. It is the time when the pedestrian walks to the right side of the vehicle and collides with the vehicle. Not less than 2.3 seconds, and If the time is no more than 2.3 seconds, a collision may occur. If a collision may occur, the first and second alarms will be issued in sequence, and each alarm will last for 1.4 seconds. After the second alarm, the lateral movement displacement is calculated to determine whether a collision will occur. If so, emergency braking is performed. The method for determining the lateral movement displacement is as follows:

[0128] ,

[0129] in, is the current position of the pedestrian in the lateral direction, is the initial position of the pedestrian, a is the acceleration, t is the time, Displacement coefficient, when A collision will occur when the displacement is greater than the lateral movement.

[0130] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0131] In an exemplary embodiment, Figure 5 As shown, a vehicle emergency braking device is provided, comprising: a detection module, a time calculation module and a braking module, wherein:

[0132] A detection module, used to determine the road condition of the current road of the vehicle when a pedestrian is detected ahead;

[0133] a time calculation module, for obtaining a vehicle speed, a pedestrian speed, a relative lateral distance and a relative longitudinal distance between the vehicle and the pedestrian if the road condition is a curve and there are lane lines, and determining a lateral collision time and a longitudinal collision time between the vehicle and the pedestrian based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance;

[0134] The braking module is used to determine whether the vehicle will collide with the pedestrian based on the lateral collision time and the longitudinal collision time, and if a collision occurs, perform braking processing.

[0135] In one embodiment, the time calculation module is further used to:

[0136] Acquire vehicle speed; take the vehicle's forward direction as the longitudinal direction and the vehicle's left side direction as the lateral direction; determine the pedestrian's longitudinal speed, pedestrian's lateral speed, longitudinal distance and lateral distance between the vehicle and the pedestrian based on the longitudinal direction and the lateral direction; use the longitudinal distance as the relative longitudinal distance; use the pedestrian's longitudinal speed and the pedestrian's lateral speed as the pedestrian's moving speed; determine a formula for calculating the relative lateral distance; determine the relative lateral distance between the lane line and the pedestrian based on the relative longitudinal distance and the formula for calculating the relative lateral distance as the relative lateral distance.

[0137] In one embodiment, the time calculation module is further used to:

[0138] The longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is greater than a first preset value, the longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is not greater than the first preset value, the lateral collision time between the vehicle and the pedestrian is determined based on the lateral speed of the pedestrian and the relative lateral distance.

[0139] In one embodiment, the time calculation module is further used to:

[0140] Acquire lane line width and vehicle width; determine a minimum lateral distance based on the relative lateral distance and the lane line width; determine a maximum lateral distance based on the relative lateral distance and the vehicle width; determine a first lateral collision time based on the minimum lateral distance and the pedestrian lateral speed; determine a second lateral collision time based on the relative lateral distance and the pedestrian lateral speed; determine a third lateral collision time based on the maximum lateral distance and the pedestrian lateral speed; the first lateral collision time, the second lateral collision time and the third lateral collision time together constitute the lateral collision time.

[0141] In one embodiment, the braking module is further used for:

[0142] If the first lateral collision time is greater than the longitudinal collision time, no collision with the pedestrian will occur; if the first lateral collision time is not greater than the longitudinal collision time, and the second lateral collision time is greater than the longitudinal collision time, a first collision event with the pedestrian will occur; if the second lateral collision time plus the first lateral collision time is not greater than the longitudinal collision time, and the third lateral collision time is greater than the longitudinal collision time, a second collision event with the pedestrian will occur; if the third lateral collision time is not greater than the longitudinal collision time, no collision with the pedestrian will occur.

[0143] In one embodiment, the time calculation module is further used to:

[0144] If the road condition is a straight road with lane lines, or the steering wheel angle speed is within a threshold range, the vehicle speed, pedestrian movement speed, longitudinal collision distance and lateral collision distance of the vehicle and pedestrian are obtained; based on the vehicle speed, the pedestrian movement speed, the longitudinal collision distance and the lateral collision distance, the longitudinal collision time and lateral collision time of the vehicle and pedestrian are determined.

[0145] Each module in the above-mentioned vehicle emergency brake device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0146] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 6 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store longitudinal collision time and lateral collision time. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle emergency braking method is implemented.

[0147] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0148] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0149] When a pedestrian is detected ahead, the road condition of the vehicle is determined;

[0150] If the road condition is a curve and there are lane lines, the vehicle speed, the pedestrian speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the longitudinal collision time and the lateral collision time between the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance;

[0151] Based on the lateral collision time and the longitudinal collision time, it is determined whether the vehicle will collide with the pedestrian, and if a collision is likely to occur, a braking process is performed.

[0152] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0153] Acquire vehicle speed; take the vehicle's forward direction as the longitudinal direction and the vehicle's left side direction as the lateral direction; determine the pedestrian's longitudinal speed, pedestrian's lateral speed, longitudinal distance and lateral distance between the vehicle and the pedestrian based on the longitudinal direction and the lateral direction; use the longitudinal distance as the relative longitudinal distance; use the pedestrian's longitudinal speed and the pedestrian's lateral speed as the pedestrian's moving speed; determine a formula for calculating the relative lateral distance; determine the relative lateral distance between the lane line and the pedestrian based on the relative longitudinal distance and the formula for calculating the relative lateral distance as the relative lateral distance.

[0154] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0155] The longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is greater than a first preset value, the longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is not greater than the first preset value, the lateral collision time between the vehicle and the pedestrian is determined based on the lateral speed of the pedestrian and the relative lateral distance.

[0156] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0157] Acquire lane line width and vehicle width; determine a minimum lateral distance based on the relative lateral distance and the lane line width; determine a maximum lateral distance based on the relative lateral distance and the vehicle width; determine a first lateral collision time based on the minimum lateral distance and the pedestrian lateral speed; determine a second lateral collision time based on the relative lateral distance and the pedestrian lateral speed; determine a third lateral collision time based on the maximum lateral distance and the pedestrian lateral speed; the first lateral collision time, the second lateral collision time and the third lateral collision time together constitute the lateral collision time.

[0158] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0159] If the first lateral collision time is greater than the longitudinal collision time, no collision with the pedestrian will occur; if the first lateral collision time is not greater than the longitudinal collision time, and the second lateral collision time is greater than the longitudinal collision time, a first collision event with the pedestrian will occur; if the second lateral collision time plus the first lateral collision time is not greater than the longitudinal collision time, and the third lateral collision time is greater than the longitudinal collision time, a second collision event with the pedestrian will occur; if the third lateral collision time is not greater than the longitudinal collision time, no collision with the pedestrian will occur.

[0160] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0161] If the road condition is a straight road with lane lines, or the steering wheel angle speed is within a threshold range, the vehicle speed, pedestrian movement speed, longitudinal collision distance and lateral collision distance of the vehicle and pedestrian are obtained; based on the vehicle speed, the pedestrian movement speed, the longitudinal collision distance and the lateral collision distance, the longitudinal collision time and lateral collision time of the vehicle and pedestrian are determined.

[0162] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0163] When a pedestrian is detected ahead, the road condition of the vehicle is determined;

[0164] If the road condition is a curve and there are lane lines, the vehicle speed, the pedestrian speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the longitudinal collision time and the lateral collision time between the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance;

[0165] Based on the lateral collision time and the longitudinal collision time, it is determined whether the vehicle will collide with the pedestrian, and if a collision is likely to occur, a braking process is performed.

[0166] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0167] Acquire vehicle speed; take the vehicle's forward direction as the longitudinal direction and the vehicle's left side direction as the lateral direction; determine the pedestrian's longitudinal speed, pedestrian's lateral speed, longitudinal distance and lateral distance between the vehicle and the pedestrian based on the longitudinal direction and the lateral direction; use the longitudinal distance as the relative longitudinal distance; use the pedestrian's longitudinal speed and the pedestrian's lateral speed as the pedestrian's moving speed; determine a formula for calculating the relative lateral distance; determine the relative lateral distance between the lane line and the pedestrian based on the relative longitudinal distance and the formula for calculating the relative lateral distance as the relative lateral distance.

[0168] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0169] The longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is greater than a first preset value, the longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is not greater than the first preset value, the lateral collision time between the vehicle and the pedestrian is determined based on the lateral speed of the pedestrian and the relative lateral distance.

[0170] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0171] Acquire lane line width and vehicle width; determine a minimum lateral distance based on the relative lateral distance and the lane line width; determine a maximum lateral distance based on the relative lateral distance and the vehicle width; determine a first lateral collision time based on the minimum lateral distance and the pedestrian lateral speed; determine a second lateral collision time based on the relative lateral distance and the pedestrian lateral speed; determine a third lateral collision time based on the maximum lateral distance and the pedestrian lateral speed; the first lateral collision time, the second lateral collision time and the third lateral collision time together constitute the lateral collision time.

[0172] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0173] If the first lateral collision time is greater than the longitudinal collision time, no collision with the pedestrian will occur; if the first lateral collision time is not greater than the longitudinal collision time, and the second lateral collision time is greater than the longitudinal collision time, a first collision event with the pedestrian will occur; if the second lateral collision time plus the first lateral collision time is not greater than the longitudinal collision time, and the third lateral collision time is greater than the longitudinal collision time, a second collision event with the pedestrian will occur; if the third lateral collision time is not greater than the longitudinal collision time, no collision with the pedestrian will occur.

[0174] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0175] If the road condition is a straight road with lane lines, or the steering wheel angle speed is within a threshold range, the vehicle speed, pedestrian movement speed, longitudinal collision distance and lateral collision distance of the vehicle and pedestrian are obtained; based on the vehicle speed, the pedestrian movement speed, the longitudinal collision distance and the lateral collision distance, the longitudinal collision time and lateral collision time of the vehicle and pedestrian are determined.

[0176] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0177] When a pedestrian is detected ahead, the road condition of the vehicle is determined;

[0178] If the road condition is a curve and there are lane lines, the vehicle speed, the pedestrian speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the longitudinal collision time and the lateral collision time between the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance;

[0179] Based on the lateral collision time and the longitudinal collision time, it is determined whether the vehicle will collide with the pedestrian, and if a collision is likely to occur, a braking process is performed.

[0180] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0181] Acquire vehicle speed; take the vehicle's forward direction as the longitudinal direction and the vehicle's left side direction as the lateral direction; determine the pedestrian's longitudinal speed, pedestrian's lateral speed, longitudinal distance and lateral distance between the vehicle and the pedestrian based on the longitudinal direction and the lateral direction; use the longitudinal distance as the relative longitudinal distance; use the pedestrian's longitudinal speed and the pedestrian's lateral speed as the pedestrian's moving speed; determine a formula for calculating the relative lateral distance; determine the relative lateral distance between the lane line and the pedestrian based on the relative longitudinal distance and the formula for calculating the relative lateral distance as the relative lateral distance.

[0182] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0183] The longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is greater than a first preset value, the longitudinal collision time between the vehicle and the pedestrian is determined based on the vehicle speed, the longitudinal speed of the pedestrian and the relative longitudinal distance; if the longitudinal collision time is not greater than the first preset value, the lateral collision time between the vehicle and the pedestrian is determined based on the lateral speed of the pedestrian and the relative lateral distance.

[0184] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0185] Acquire lane line width and vehicle width; determine a minimum lateral distance based on the relative lateral distance and the lane line width; determine a maximum lateral distance based on the relative lateral distance and the vehicle width; determine a first lateral collision time based on the minimum lateral distance and the pedestrian lateral speed; determine a second lateral collision time based on the relative lateral distance and the pedestrian lateral speed; determine a third lateral collision time based on the maximum lateral distance and the pedestrian lateral speed; the first lateral collision time, the second lateral collision time and the third lateral collision time together constitute the lateral collision time.

[0186] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0187] If the first lateral collision time is greater than the longitudinal collision time, no collision with the pedestrian will occur; if the first lateral collision time is not greater than the longitudinal collision time, and the second lateral collision time is greater than the longitudinal collision time, a first collision event with the pedestrian will occur; if the second lateral collision time plus the first lateral collision time is not greater than the longitudinal collision time, and the third lateral collision time is greater than the longitudinal collision time, a second collision event with the pedestrian will occur; if the third lateral collision time is not greater than the longitudinal collision time, no collision with the pedestrian will occur.

[0188] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0189] If the road condition is a straight road with lane lines, or the steering wheel angle speed is within a threshold range, the vehicle speed, pedestrian movement speed, longitudinal collision distance and lateral collision distance of the vehicle and pedestrian are obtained; based on the vehicle speed, the pedestrian movement speed, the longitudinal collision distance and the lateral collision distance, the longitudinal collision time and lateral collision time of the vehicle and pedestrian are determined.

[0190] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0191] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0192] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle emergency braking method, characterized in that: The method comprises: When a pedestrian is detected ahead, the road condition of the vehicle is determined; If the road condition is a curve and there are lane lines, the vehicle speed, the pedestrian speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian are obtained, and the longitudinal collision time and the lateral collision time between the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance; Based on the lateral collision time and the longitudinal collision time, it is determined whether the vehicle will collide with the pedestrian, and if a collision is likely to occur, a braking process is performed.

2. The method according to claim 1, characterized in that The obtaining of the vehicle speed, the pedestrian movement speed, the relative lateral distance and the relative longitudinal distance between the vehicle and the pedestrian comprises: Get vehicle speed; The forward direction of the vehicle is the longitudinal direction, and the left side of the vehicle is the transverse direction; Based on the longitudinal direction and the lateral direction, determining the longitudinal speed of the pedestrian, the lateral speed of the pedestrian, the longitudinal distance and the lateral distance between the vehicle and the pedestrian; The longitudinal distance is taken as the relative longitudinal distance; the longitudinal speed of the pedestrian and the lateral speed of the pedestrian are taken as the movement speed of the pedestrian; Determine the formula for calculating relative lateral distance; Based on the relative longitudinal distance and the formula for calculating the relative lateral distance, the relative lateral distance between the lane line and the pedestrian is determined as the relative lateral distance.

3. The method according to claim 2, characterized in that The determining of the longitudinal collision time and the lateral collision time between the vehicle and the pedestrian based on the vehicle speed, the pedestrian movement speed, the relative lateral distance and the relative longitudinal distance comprises: determining a longitudinal collision time between the vehicle and the pedestrian based on the vehicle speed, the pedestrian longitudinal speed and the relative longitudinal distance; If the longitudinal collision time is greater than a first preset value, returning to determine the longitudinal collision time between the vehicle and the pedestrian based on the vehicle speed, the pedestrian longitudinal speed and the relative longitudinal distance; If the longitudinal collision time is not greater than a first preset value, a lateral collision time between the vehicle and the pedestrian is determined based on the lateral speed of the pedestrian and the relative lateral distance.

4. The method according to claim 3, characterized in that The determining of the lateral collision time between the vehicle and the pedestrian based on the lateral speed of the pedestrian and the relative lateral distance comprises: Get lane width and vehicle width; Based on the relative lateral distance and the lane line width; determining a minimum lateral distance; determining a maximum lateral distance based on the relative lateral distance and the vehicle width; determining a first lateral collision time based on the minimum lateral distance and the pedestrian lateral speed; determining a second lateral collision time based on the relative lateral distance and the pedestrian lateral speed; determining a third lateral collision time based on the maximum lateral distance and the pedestrian lateral speed; The first lateral collision time, the second lateral collision time and the third lateral collision time together constitute a lateral collision time.

5. The method according to claim 4, characterized in that The determining whether a collision with the pedestrian will occur based on the lateral collision time and the longitudinal collision time includes: If the first lateral collision time is greater than the longitudinal collision time, no collision with the pedestrian will occur; If the first lateral collision time is not greater than the longitudinal collision time, and the second lateral collision time is greater than the longitudinal collision time, a first collision event will occur with the pedestrian; If the sum of the second lateral collision time and the first lateral collision time is not greater than the longitudinal collision time, and the third lateral collision time is greater than the longitudinal collision time, a second collision event will occur with the pedestrian; If the third lateral collision time is not greater than the longitudinal collision time, no collision with the pedestrian will occur.

6. The method according to claim 1, characterized in that The method further comprises: If the road condition is a straight road with lane lines, or the steering wheel angle speed is within a threshold range, then the vehicle speed, the pedestrian movement speed, the longitudinal collision distance of the vehicle and the pedestrian, and the lateral collision distance are obtained; The longitudinal collision time and the lateral collision time of the vehicle and the pedestrian are determined based on the vehicle speed, the pedestrian movement speed, the longitudinal collision distance and the lateral collision distance.

7. A vehicle emergency braking device, characterized in that: The device comprises: A detection module, used to determine the road condition of the current road of the vehicle when a pedestrian is detected ahead; a time calculation module, for obtaining a vehicle speed, a pedestrian speed, a relative lateral distance and a relative longitudinal distance between the vehicle and the pedestrian if the road condition is a curve and there are lane lines, and determining a lateral collision time and a longitudinal collision time between the vehicle and the pedestrian based on the vehicle speed, the pedestrian speed, the relative longitudinal distance and the relative lateral distance; The braking module is used to determine whether the vehicle will collide with the pedestrian based on the lateral collision time and the longitudinal collision time, and if a collision occurs, perform braking processing.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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