A method and apparatus for handling a vehicle emergency

Abstract

The application provides a vehicle emergency event processing method and device. When the motion state parameter value of the pending object meets a preset two-wheeled vehicle condition, the application determines that the pending object is the target two-wheeled vehicle, determines a delay duration of a trigger AEB signal corresponding to the set of preset delay conditions and a motion type of the target two-wheeled vehicle, and when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtains a compensation distance matched with the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle. By means of the delay duration and the increased compensation distance, the distance judgment when the target two-wheeled vehicle travels is avoided, so that the vehicle travels stably and reliably, and the AEB is avoided from being triggered mistakenly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of braking, in particular to a vehicle emergency event processing method and device, medium and electronic equipment. BACKGROUND

[0002] At present, many vehicles are equipped with auxiliary cameras and / or radars to detect front vehicles and pedestrians in real time during vehicle driving, and to determine the distance, direction and relative speed between the vehicle and the front vehicle or pedestrian.

[0003] However, for complex road conditions, such as diagonal insertion or cutting, crossing, narrow space transverse stationary vehicles, and curved road scenes, there is a problem of insufficient accuracy in target attribute recognition. Especially for target two-wheeled vehicles, the pure vision solution is not accurate enough in judging the target longitudinal distance and speed, which is easy to mis-trigger false alarms or automatic braking functions, interfere with the normal driving of the driver, and even cause rear-end collisions.

[0004] Therefore, the present application provides a vehicle emergency event processing method to solve the above technical problems. SUMMARY

[0005] The present application aims to provide a vehicle emergency event processing method, device, medium and electronic equipment, which can solve at least one of the above technical problems. The specific scheme is as follows:

[0006] According to the specific embodiment of the present application, in a first aspect, the present application provides a vehicle emergency event processing method, comprising:

[0007] obtaining a driving state parameter value of a vehicle and a motion state parameter value of a pending object around the vehicle;

[0008] when the motion state parameter value of the pending object meets a preset two-wheeled vehicle condition, determining the pending object as a target two-wheeled vehicle, and determining a delay time length for the vehicle to trigger an AEB signal and a motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle;

[0009] when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matched with the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle.

[0010] Optionally, when the motion state parameter value of the pending object meets a preset two-wheeled vehicle condition, determining the pending object as a target two-wheeled vehicle, and determining a delay time length for the vehicle to trigger an AEB signal and a motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle, comprises:

[0011] determining that the pending object is the target two-wheeled vehicle when the motion state parameter value of the pending object satisfies a preset two-wheeled vehicle condition;

[0012] determining a delay time length of the AEB signal triggered by the vehicle when the vehicle driving state parameter value and the target two-wheeled vehicle motion state parameter value satisfy one of a plurality of preset delay conditions;

[0013] determining a motion type of the target two-wheeled vehicle corresponding to the one of the plurality of preset motion conditions when the motion state parameter value of the target two-wheeled vehicle satisfies the one of the plurality of preset motion conditions.

[0014] Optionally, the determining the delay time length of the AEB signal triggered by the vehicle when the vehicle driving state parameter value and the target two-wheeled vehicle motion state parameter value satisfy one of a plurality of preset delay conditions comprises:

[0015] determining that the delay time length of the AEB signal triggered by the vehicle is equal to a basic delay time length corresponding to the one of the plurality of preset basic delay conditions when the vehicle driving state parameter value and the target two-wheeled vehicle motion state parameter value satisfy the one of the plurality of preset basic delay conditions.

[0016] Optionally, the method further comprises:

[0017] determining an increased delay time length corresponding to the one of the plurality of preset increased delay time length conditions when the motion state parameter value of the target two-wheeled vehicle satisfies the one of the plurality of preset increased delay time length conditions;

[0018] obtaining the delay time length of the AEB signal triggered by the vehicle based on a sum of the basic delay time length and the increased delay time length.

[0019] Optionally, the determining the motion type of the target two-wheeled vehicle corresponding to the one of the plurality of preset motion conditions when the motion state parameter value of the target two-wheeled vehicle satisfies the one of the plurality of preset motion conditions comprises:

[0020] determining that the motion type of the target two-wheeled vehicle is a longitudinal driving type or a static type when the motion state parameter value of the target two-wheeled vehicle satisfies a preset longitudinal driving condition or a preset static condition.

[0021] Optionally, the motion state parameter value comprises an object longitudinal relative speed value and an object lateral speed value.

[0022] Correspondingly, the obtaining the compensation distance matched with the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types comprises:

[0023] When the motion type of the target two-wheeled vehicle belongs to the longitudinal driving type or the static type, the object longitudinal compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the object lateral relative speed value of the target two-wheeled vehicle and the object longitudinal speed value of the target two-wheeled vehicle.

[0024] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy one of a plurality of sets of preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions is determined, including:

[0025] When the motion state parameter value of the target two-wheeled vehicle satisfies a preset crossing driving condition, the motion type of the target two-wheeled vehicle is determined as the crossing driving type.

[0026] Optionally, the motion state parameter value includes an object lateral relative speed value and an object longitudinal speed value.

[0027] Correspondingly, when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, the compensation distance matched with the motion type of the target two-wheeled vehicle is obtained based on the motion state parameter value of the target two-wheeled vehicle, including:

[0028] When the motion type of the target two-wheeled vehicle belongs to the crossing driving type, the object lateral compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the object lateral relative speed value of the target two-wheeled vehicle and the object longitudinal speed value of the target two-wheeled vehicle.

[0029] Optionally, the method further includes:

[0030] When the motion state parameter value of the pending object does not satisfy the preset two-wheeled vehicle condition, the AEB signal of the vehicle is inhibited from triggering.

[0031] Optionally, the driving state parameter value of the vehicle and the motion state parameter value of the pending object around the vehicle are obtained, including:

[0032] The driving state parameter value of the vehicle and the visual information of the pending object around the vehicle are obtained.

[0033] The pending object and the motion state parameter value of the pending object are determined based on the visual information of the pending object.

[0034] According to the specific embodiment of the present application, a second aspect, the present application provides a vehicle emergency processing device, including:

[0035] An acquisition unit is configured to acquire a driving state parameter value of a vehicle and a motion state parameter value of a pending object around the vehicle.

[0036] determining that the pending object is a target two-wheeled vehicle when the motion state parameter value of the pending object satisfies a preset two-wheeled vehicle condition, determining a delay duration for the vehicle to trigger an AEB signal and a motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle;

[0037] obtaining a compensation distance matching the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types.

[0038] Optionally, the determining that the pending object is a target two-wheeled vehicle when the motion state parameter value of the pending object satisfies a preset two-wheeled vehicle condition, determining a delay duration for the vehicle to trigger an AEB signal and a motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle, comprises:

[0039] determining that the pending object is the target two-wheeled vehicle when the motion state parameter value of the pending object satisfies a preset two-wheeled vehicle condition;

[0040] determining a delay duration for the vehicle to trigger an AEB signal corresponding to one of a plurality of preset delay conditions when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy the one of the plurality of preset delay conditions;

[0041] determining a motion type of the target two-wheeled vehicle corresponding to one of a plurality of preset motion conditions when the motion state parameter value of the target two-wheeled vehicle satisfies the one of the plurality of preset motion conditions.

[0042] Optionally, the determining a delay duration for the vehicle to trigger an AEB signal corresponding to one of a plurality of preset delay conditions when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy the one of the plurality of preset delay conditions, comprises:

[0043] determining that the delay duration for the vehicle to trigger an AEB signal is equal to a basic delay duration corresponding to one of a plurality of preset basic delay conditions when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy the one of the plurality of preset basic delay conditions.

[0044] Optionally, the apparatus further comprises:

[0045] a delaying unit configured to determine an increased delay duration corresponding to one of a plurality of preset increased delay duration conditions when the motion state parameter value of the target two-wheeled vehicle satisfies the one of the plurality of preset increased delay duration conditions, and obtain the delay duration for the vehicle to trigger an AEB signal based on a sum of the basic delay duration and the increased delay duration.

[0046] Optionally, the determining the motion type of the target two-wheeled vehicle corresponding to one of the groups of preset motion conditions when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy the one of the groups of preset motion conditions comprises:

[0047] The motion type of the target two-wheeled vehicle is determined as a longitudinal driving type or a static type when the motion state parameter value of the target two-wheeled vehicle satisfies a preset longitudinal driving condition or a preset static condition.

[0048] Optionally, the motion state parameter value comprises an object longitudinal relative speed value and an object lateral speed value.

[0049] Correspondingly, the obtaining the compensation distance matching the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle when the motion type of the target two-wheeled vehicle belongs to one of the groups of preset compensation types comprises:

[0050] The object longitudinal compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the object longitudinal relative speed value of the target two-wheeled vehicle and the object lateral speed value of the target two-wheeled vehicle when the motion type of the target two-wheeled vehicle belongs to a longitudinal driving type or a static type.

[0051] Optionally, the determining the motion type of the target two-wheeled vehicle corresponding to one of the groups of preset motion conditions when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy the one of the groups of preset motion conditions comprises:

[0052] The motion type of the target two-wheeled vehicle is determined as a lateral driving type when the motion state parameter value of the target two-wheeled vehicle satisfies a preset lateral driving condition.

[0053] Optionally, the motion state parameter value comprises an object lateral relative speed value and an object longitudinal speed value.

[0054] Correspondingly, the obtaining the compensation distance matching the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle when the motion type of the target two-wheeled vehicle belongs to one of the groups of preset compensation types comprises:

[0055] The object lateral compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the object lateral relative speed value of the target two-wheeled vehicle and the object longitudinal speed value of the target two-wheeled vehicle when the motion type of the target two-wheeled vehicle belongs to a lateral driving type.

[0056] Optionally, the apparatus further comprises:

[0057] The inhibition unit is configured to inhibit triggering of the AEB signal of the vehicle when the motion state parameter value of the pending object does not satisfy the preset two-wheeled vehicle condition.

[0058] Optionally, the obtaining of the driving state parameter value of the vehicle and the motion state parameter value of the pending object around the vehicle comprises:

[0059] The driving state parameter value of the vehicle and visual information of the pending object around the vehicle are obtained.

[0060] The visual information of the pending object is used to determine the pending object and the motion state parameter value of the pending object.

[0061] According to the specific embodiments of the present application, in a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the vehicle emergency processing method according to any one of the preceding aspects.

[0062] According to the specific embodiments of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; and a storage device configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the vehicle emergency processing method according to any one of the preceding aspects.

[0063] The above scheme of the embodiments of the present application has at least the following beneficial effects compared with the prior art:

[0064] The present application provides a vehicle emergency processing method, device, medium and electronic device. When the motion state parameter value of the pending object satisfies the preset two-wheeled vehicle condition, the present application determines that the pending object is the target two-wheeled vehicle, determines the delay time length of the trigger AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle; when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, a compensation distance matching the motion type of the target two-wheeled vehicle is obtained based on the motion state parameter value of the target two-wheeled vehicle. By delaying the time length and increasing the compensation distance, the present application avoids inaccurate distance judgment when the target two-wheeled vehicle is driving, thereby ensuring stable and reliable driving of the vehicle and avoiding false triggering of the AEB. BRIEF DESCRIPTION OF DRAWINGS

[0065] Figure 1 A flowchart of a vehicle emergency processing method according to an embodiment of the present application is shown;

[0066] Figure 2 A unit block diagram of a vehicle emergency processing device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0067] In order to make the purposes, technical solutions and advantages of the present application clearer, the following further describes the present application with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0068] The terms used in the embodiments of the present application are only for the purpose of describing particular embodiments and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0069] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0070] It should be understood that although the terms first, second, third, etc. can be used in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the description. For example, without departing from the scope of the embodiments of the present application, the first can also be called the second, and similarly, the second can also be called the first.

[0071] Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if it is determined" or "if (a stated condition or event) is detected" can be interpreted as "when it is determined" or "in response to determining" or "when (a stated condition or event) is detected" or "in response to detecting (a stated condition or event)".

[0072] It should also be noted that the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that the product or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such product or device. Without more limitations, the element defined by the sentence "including a" does not exclude the presence of other identical elements in the product or device including the element.

[0073] It is particularly noted that the symbols and / or numbers existing in the specification, if not marked in the description of the drawings, are not the drawing marks.

[0074] The optional embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0075] The embodiments of the present application, i.e., the embodiments of the vehicle emergency event processing method, are provided.

[0076] The embodiments of the present application will be described in detail below with reference to the accompanying drawings. Figure 1 The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0077] In step S101, the driving state parameter value of the vehicle and the motion state parameter value of the object to be determined around the vehicle are obtained.

[0078] The driving state parameter value includes a vehicle speed value.

[0079] The motion state parameter value includes an object speed value, an object lateral speed value, an object longitudinal speed value, an object heading angle value, an object driving path state value, an object appearance time length, an object lateral distance, an object longitudinal distance, an object longitudinal relative speed value, and an object lateral relative speed value.

[0080] The driving state parameter value is obtained through the CAN signal of the vehicle.

[0081] The motion state parameter value of the target two-wheeled vehicle is obtained through the sensor detection of the vehicle.

[0082] The target two-wheeled vehicle is a two-wheeled vehicle determined after multiple recognition and judgment of the object around the vehicle. This avoids misrecognition and causes misoperation.

[0083] The driving state parameter value and the motion state parameter value are both parameter values based on a preset coordinate system. For example, the preset coordinate system is the vehicle body coordinate system of the vehicle.

[0084] The object appearance time length refers to the time length of detecting the target two-wheeled vehicle.

[0085] The object distance refers to the distance from the object to be determined to the vehicle.

[0086] In some specific embodiments, for the vehicle that perceives through vision, the motion state parameter value of the target two-wheeled vehicle can only be obtained through the visual information collected by the visual sensor (such as a camera). The driving state parameter value of the vehicle and the motion state parameter value of the object to be determined around the vehicle include the following steps:

[0087] In step S101-1, the driving state parameter value of the vehicle and the visual information of the object to be determined around the vehicle are obtained.

[0088] The visual information refers to information collected by a visual sensor. The visual information includes images.

[0089] In step S101-2, the object to be determined and the motion state parameter value of the object to be determined are determined based on the visual information of the object to be determined.

[0090] Generally, objects around a vehicle can be recognized through visual information. However, since the target of a two-wheeled vehicle is relatively small, the judgment of the target of the two-wheeled vehicle through the visual sensor alone, especially at night or in rainy weather, is inaccurate. Therefore, the object recognized in the visual information is determined as an object to be determined in the embodiments of the present application, so as to further determine whether the object to be determined is the target two-wheeled vehicle, and improve the reliability of the perception information.

[0091] For technical solutions about how to determine the object to be determined and the motion state parameter value of the object to be determined through the visual information of the object to be determined, please refer to the prior art, and the embodiments of the present application will not be repeated.

[0092] In step S102a, when the motion state parameter value of the object to be determined meets the preset two-wheeled vehicle condition, the object to be determined is determined as the target two-wheeled vehicle, and the delay time length of the AEB signal triggered by the vehicle and the motion type of the target two-wheeled vehicle are determined based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle.

[0093] The autonomous emergency braking system (English full name: Autonomous Emergency Braking, abbreviated as AEB) is an active safety technology of a vehicle, mainly composed of three modules, including: a control module, a distance measuring module, and a braking module. The core of the distance measuring module includes: a microwave radar, a face recognition technology, and a video system, etc. The AEB adopts the radar to measure the safety distance, and can automatically start when the safety distance is less than the safety distance, so as to automatically brake the vehicle and ensure the safety of driving.

[0094] In some specific embodiments, the method further comprises:

[0095] In step S102b, when the motion state parameter value of the object to be determined does not meet the preset two-wheeled vehicle condition, the AEB signal of the vehicle is inhibited from being triggered.

[0096] The inhibition of the AEB signal of the vehicle from being triggered means that the control module prohibits the AEB signal from being sent, and the automatic braking will not be taken.

[0097] Optionally, the motion state parameter value includes an object lateral speed value and an object appearance time length.

[0098] Before it is determined whether the object to be determined is the target two-wheeled vehicle, the object appearance time length refers to the time length during which the object to be determined can appear in the visual information.

[0099] Correspondingly, the determining the target two-wheeled vehicle from the pending object, and determining the delay duration of the triggered AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle when the motion state parameter value of the pending object meets the preset two-wheeled vehicle condition comprises:

[0100] In step S102aa, the determining the target two-wheeled vehicle from the pending object, and determining the delay duration of the triggered AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle when the absolute value of the object lateral speed value of the pending object is less than or equal to a preset first object lateral speed threshold value, and the object appearance duration of the pending object is greater than or equal to a preset first appearance duration threshold value.

[0101] For example, the absolute value of the object lateral speed value of the pending object is less than or equal to a preset first object lateral speed threshold value, and the object appearance duration of the pending object is greater than or equal to a preset first appearance duration threshold value, which is represented as abs(V egoLat )<=V egoLat1 &&age≥N1, where V egoLat represents the object lateral speed value, V egoLat1 represents the preset first object lateral speed threshold value, age represents the object appearance duration of the pending object, and N1 represents the preset first appearance duration threshold value, where N1 can be equal to the length value of a plurality of consecutive periods.

[0102] In this case, the pending object can be determined as the target two-wheeled vehicle only in a normal environment.

[0103] Optionally, the inhibiting the triggering of the AEB signal of the vehicle when the motion state parameter value of the pending object does not meet the preset two-wheeled vehicle condition comprises:

[0104] In step S102ba, the inhibiting the triggering of the AEB signal of the vehicle when the object appearance duration of the pending object is less than a preset first appearance duration threshold value.

[0105] Optionally, the motion state parameter value comprises an object orientation angle value, an object longitudinal speed value, an object lateral speed value, and an object appearance duration.

[0106] Correspondingly, the determining the target two-wheeled vehicle from the pending object, and determining the delay duration of the triggered AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle when the motion state parameter value of the pending object meets the preset two-wheeled vehicle condition comprises:

[0107] Step S102ab, when the absolute value of the object longitudinal speed value of the pending object is greater than the absolute value of the object lateral speed value, or the absolute value of the object lateral speed value is less than a preset second object lateral speed threshold value, when the object heading angle value is less than a preset first angle threshold value, and the object appearance duration of the pending object is greater than or equal to a preset second appearance duration threshold value, the pending object is determined to be the target two-wheeled vehicle, and the delay duration of the triggered AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle are determined.

[0108] It is particularly noted that the preset second object lateral speed threshold value is less than the preset first object lateral speed threshold value (i.e., V egoLat2 <V egoLat1 ); the preset first appearance duration threshold value is less than the preset second appearance duration threshold value (i.e., N1

[0109] In this case, it can be determined that the pending object is the target two-wheeled vehicle, and is a longitudinal, stationary, or jammed target two-wheeled vehicle.

[0110] Optionally, the AEB signal triggering of the vehicle is inhibited when the motion state parameter value of the pending object does not satisfy the preset two-wheeled vehicle condition, including:

[0111] Step S102bb, when the object appearance duration of the pending object is less than a preset second appearance duration threshold value, the AEB signal triggering of the vehicle is inhibited.

[0112] Optionally, the motion state parameter value includes an object lateral speed value and an object appearance duration.

[0113] Correspondingly, when the motion state parameter value of the pending object satisfies the preset two-wheeled vehicle condition, the pending object is determined to be the target two-wheeled vehicle, and the delay duration of the triggered AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle are determined, including:

[0114] Step S102ac, when the absolute value of the object lateral speed value of the pending object is less than or equal to a preset first object lateral speed threshold value, and the object appearance duration of the pending object is greater than or equal to a preset third appearance duration threshold value, the pending object is determined to be the target two-wheeled vehicle, and the delay duration of the triggered AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle are determined.

[0115] It is particularly noted that the preset second appearance duration threshold value is less than the preset third appearance duration threshold value (i.e., N2

[0116] In this case, it can be determined that the pending object is the target two-wheeled vehicle, and is a target two-wheeled vehicle crossing in the rain.

[0117] Optionally, the step of inhibiting the triggering of the AEB signal of the vehicle when the motion state parameter value of the pending object does not satisfy the preset two-wheeled vehicle condition comprises:

[0118] Step S102bc, when the object appearance duration of the pending object is less than a preset third object appearance duration threshold, the triggering of the AEB signal of the vehicle is inhibited.

[0119] Optionally, the motion state parameter value comprises an object lateral speed value and an object appearance duration.

[0120] Correspondingly, the step of determining the target two-wheeled vehicle when the motion state parameter value of the pending object satisfies the preset two-wheeled vehicle condition, and determining the delay duration of the triggered AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle comprises:

[0121] Step S102ad, when the absolute value of the object lateral speed value of the pending object is less than or equal to a preset first object lateral speed threshold, and the object appearance duration of the pending object is greater than or equal to a preset fourth object appearance duration threshold, the pending object is determined as the target two-wheeled vehicle, and the delay duration of the triggered AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle are determined.

[0122] It is particularly noted that the preset third object appearance duration threshold is less than the preset fourth object appearance duration threshold (i.e., N3

[0123] In this case, the pending object can be determined as the target two-wheeled vehicle, and as a target two-wheeled vehicle crossing in the night and rainy weather.

[0124] Optionally, the step of inhibiting the triggering of the AEB signal of the vehicle when the motion state parameter value of the pending object does not satisfy the preset two-wheeled vehicle condition comprises:

[0125] Step S102bd, when the object appearance duration of the pending object is less than a preset fourth object appearance duration threshold, the triggering of the AEB signal of the vehicle is inhibited.

[0126] In some embodiments, the step of determining the target two-wheeled vehicle when the motion state parameter value of the pending object satisfies the preset two-wheeled vehicle condition, and determining the delay duration of the triggered AEB signal of the vehicle and the motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle comprises the following steps:

[0127] Step S102c-1, when the motion state parameter value of the pending object satisfies the preset two-wheeled vehicle condition, the pending object is determined as the target two-wheeled vehicle.

[0128] The above has been described in various scenarios, and will not be described here.

[0129] Step S102c-2, when the vehicle driving state parameter value and the target two-wheeled vehicle motion state parameter value satisfy one of the plurality of sets of preset delay conditions, determine the delay time of the triggered AEB signal corresponding to the set of preset delay conditions.

[0130] Due to the particularity of two-wheeled vehicles, the delay time of the triggered delay needs to be increased to ensure the stability and reliability of the speed, acceleration and distance information of the target two-wheeled vehicle.

[0131] In some embodiments, when the vehicle driving state parameter value and the target two-wheeled vehicle motion state parameter value satisfy one of the plurality of sets of preset delay conditions, the delay time of the triggered AEB signal corresponding to the set of preset delay conditions is determined, comprising the following steps:

[0132] Step S102c-2a, when the vehicle driving state parameter value and the target two-wheeled vehicle motion state parameter value satisfy one of the plurality of sets of preset basic delay conditions, determine the delay time of the triggered AEB signal of the vehicle is equal to the basic delay time corresponding to the set of preset basic delay conditions.

[0133] Optionally, the motion state parameter value includes an object lateral speed value.

[0134] Correspondingly, when the vehicle driving state parameter value and the target two-wheeled vehicle motion state parameter value satisfy one of the plurality of sets of preset basic delay conditions, the delay time of the triggered AEB signal of the vehicle is determined to be equal to the basic delay time corresponding to the set of preset basic delay conditions, comprising:

[0135] Step S102c-2aa, when the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than or equal to a preset third object lateral speed threshold, the delay time of the triggered AEB signal of the vehicle is determined to be equal to a preset first basic delay time.

[0136] The first set of preset basic delay conditions: the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than or equal to a preset third object lateral speed threshold.

[0137] Optionally, the motion state parameter value includes an object lateral speed value and an object lateral distance.

[0138] The driving state parameter value includes a vehicle speed value.

[0139] Correspondingly, the step of determining the delay time length of the AEB signal triggered by the vehicle when the vehicle driving state parameter value and the target two-wheeled vehicle motion state parameter value satisfy one of the plurality of sets of preset basic delay conditions is specifically as follows:

[0140] In step S102c-2ab, when the absolute value of the target two-wheeled vehicle object lateral speed value is less than or equal to a preset fourth object lateral speed threshold value, the object lateral distance is greater than zero, and the vehicle speed value is greater than a first vehicle speed threshold value, it is determined that the delay time length of the AEB signal triggered by the vehicle is equal to a preset second basic delay time length.

[0141] The second set of preset basic delay conditions is that the absolute value of the target two-wheeled vehicle object lateral speed value is less than or equal to a preset fourth object lateral speed threshold value, the object lateral distance is greater than zero, and the vehicle speed value is greater than a first vehicle speed threshold value.

[0142] Correspondingly, the step of determining the delay time length of the AEB signal triggered by the vehicle when the vehicle driving state parameter value and the target two-wheeled vehicle motion state parameter value satisfy one of the plurality of sets of preset basic delay conditions is specifically as follows:

[0143] In step S102c-2ac, when the delay time length of the AEB signal triggered by the vehicle is not equal to the preset first delay time length, or the delay time length of the AEB signal triggered by the vehicle is not equal to the preset second delay time length, it is determined that the basic delay time length of the AEB signal triggered by the vehicle is equal to a preset third basic delay time length.

[0144] It is particularly noted that the preset second basic delay time length < the preset first basic delay time length < the preset third basic delay time length; the preset second object lateral speed threshold value < the preset first object lateral speed threshold value < the preset fourth object lateral speed threshold value < the preset third object lateral speed threshold value.

[0145] The third set of preset basic delay conditions is that the delay time length of the AEB signal triggered by the vehicle is not equal to the preset first delay time length, or the delay time length of the AEB signal triggered by the vehicle is not equal to the preset second delay time length.

[0146] In this embodiment, the stability and reliability of the vehicle and the target two-wheeled vehicle in speed, acceleration, and distance information are ensured by the basic delay time length, and AEB false triggering is avoided.

[0147] In some embodiments, false triggering is prone to occur in some special scenarios, and it is difficult to repair through visual information. Therefore, the method further includes the following steps:

[0148] Step S102c-2ad, when the motion state parameter value of the target two-wheeled vehicle satisfies one of the plurality of groups of preset increasing delay duration conditions, determining the increasing delay duration corresponding to the group of preset increasing delay duration conditions.

[0149] Optionally, the motion state parameter value includes an object lateral distance and an object longitudinal distance.

[0150] Correspondingly, when the motion state parameter value of the target two-wheeled vehicle satisfies one of the plurality of groups of preset increasing delay duration conditions, determining the increasing delay duration corresponding to the group of preset increasing delay duration conditions, includes:

[0151] Step S102c-2ada, when the object longitudinal distance of the target two-wheeled vehicle is less than a preset first object longitudinal distance threshold, or the object lateral distance of the target two-wheeled vehicle is less than a preset first object lateral distance threshold, when the difference between the object lateral distance of the target two-wheeled vehicle and the object lateral distance of the previous detection cycle is greater than a preset lateral deviation threshold, or the difference between the object longitudinal distance of the target two-wheeled vehicle and the object longitudinal distance of the previous detection cycle is greater than a preset longitudinal deviation threshold, determining that the increasing delay duration is equal to a preset first increasing delay duration.

[0152] The first group of preset increasing delay duration conditions: the object longitudinal distance of the target two-wheeled vehicle is less than a preset first object longitudinal distance threshold, or the object lateral distance of the target two-wheeled vehicle is less than a preset first object lateral distance threshold; the difference between the object lateral distance of the target two-wheeled vehicle and the object lateral distance of the previous detection cycle is greater than a preset lateral deviation threshold, or the difference between the object longitudinal distance of the target two-wheeled vehicle and the object longitudinal distance of the previous detection cycle is greater than a preset longitudinal deviation threshold.

[0153] This scenario applies to target two-wheeled vehicles with abnormal longitudinal or lateral distance.

[0154] Optionally, the motion state parameter value includes an object longitudinal distance and whether the object is driving on the vehicle path state value.

[0155] Correspondingly, when the motion state parameter value of the target two-wheeled vehicle satisfies one of the plurality of groups of preset increasing delay duration conditions, determining the increasing delay duration corresponding to the group of preset increasing delay duration conditions, includes:

[0156] Step S102c-2adb-1, obtaining the object longitudinal distance of the intermediate object and whether the object is driving on the vehicle path state value.

[0157] The intermediate object can be a vehicle and / or an object.

[0158] Step S102c-2adb-2, when the object of the intermediate object is determined to be on the path state value of the host vehicle, and the object longitudinal distance of the intermediate object is less than the object longitudinal distance of the target two-wheeled vehicle, the increase delay duration is determined to be equal to the preset second increase delay duration.

[0159] The second set of preset increase delay duration conditions: the target two-wheeled vehicle is on the driving path, and the object longitudinal distance of the intermediate object is less than the object longitudinal distance of the target two-wheeled vehicle.

[0160] The determination state value can be represented by a number, such as the number "1", or by a Chinese character, such as "yes", or by a character, such as "Y", which is not limited by the embodiment.

[0161] This scenario applies to the target two-wheeled vehicle driving longitudinally.

[0162] Optionally, the motion state parameter value includes: object speed value, object orientation angle value and object longitudinal distance.

[0163] Correspondingly, when the motion state parameter value of the target two-wheeled vehicle meets one of the plurality of sets of preset increase delay duration conditions, the increase delay duration corresponding to the set of preset increase delay duration conditions is determined, including:

[0164] Step S102c-2adc, when the object orientation angle value of the target two-wheeled vehicle is less than a preset second angle threshold, and the object longitudinal distance of the target two-wheeled vehicle is less than or equal to a preset second object longitudinal distance threshold, and the object speed value of the target two-wheeled vehicle is equal to zero, the increase delay duration is determined to be equal to a preset third increase delay duration.

[0165] The third set of preset increase delay duration conditions: the object orientation angle value of the target two-wheeled vehicle is less than a preset second angle threshold, and the object longitudinal distance of the target two-wheeled vehicle is less than or equal to a preset second object longitudinal distance threshold, and the object speed value of the target two-wheeled vehicle is equal to zero.

[0166] The object speed value equal to zero indicates that the target two-wheeled vehicle is in a stationary state. This scenario applies to the target two-wheeled vehicle in a stationary state.

[0167] Optionally, the motion state parameter value includes: object speed value, object lateral speed value, object longitudinal speed value.

[0168] Correspondingly, when the motion state parameter value of the target two-wheeled vehicle meets one of the plurality of sets of preset increase delay duration conditions, the increase delay duration corresponding to the set of preset increase delay duration conditions is determined, including:

[0169] Step S102c-2add, when the object orientation angle value of the target two-wheeled vehicle is less than a preset fourth angle threshold, when the absolute value of the object longitudinal speed value of the target two-wheeled vehicle is greater than the absolute value of the object lateral speed value of the target two-wheeled vehicle, or the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than a preset fifth object lateral speed threshold, it is determined that the increased delay duration is equal to a preset third increased delay duration.

[0170] The fourth set of preset increased delay duration conditions: the object orientation angle value of the target two-wheeled vehicle is less than a preset fourth angle threshold; the absolute value of the object longitudinal speed value of the target two-wheeled vehicle is greater than the absolute value of the object lateral speed value of the target two-wheeled vehicle, or the absolute value of the object lateral speed value of the target two-wheeled vehicle is less than a preset fifth object lateral speed threshold.

[0171] This scenario is applied to the target two-wheeled vehicle that is queuing or obliquely inserted.

[0172] Step S102c-2ae, based on the sum of the basic delay duration and the increased delay duration, the delay duration of the vehicle triggering the AEB signal is obtained.

[0173] In this specific implementation, in special scenarios, the sum of the basic delay duration and the increased delay duration is taken as the delay duration, so as to ensure stable and reliable driving of the vehicle and avoid false triggering of AEB.

[0174] Step S102c-3, when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of sets of preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions is determined.

[0175] In some embodiments, in order to avoid inaccurate distance judgment when the target two-wheeled vehicle is accelerating or decelerating longitudinally or is stationary, leading to false triggering of the function, when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of sets of preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to the set of preset motion conditions is determined, including the following steps:

[0176] Step S102c-3a, when the motion state parameter value of the target two-wheeled vehicle meets a preset longitudinal driving condition or a preset stationary condition, the motion type of the target two-wheeled vehicle is determined to be a longitudinal driving type or a stationary type.

[0177] The longitudinal driving type corresponds to the preset longitudinal driving condition.

[0178] The stationary type corresponds to the preset stationary condition.

[0179] Optionally, the motion state parameter value includes: an object orientation angle value, an object lateral speed value, and whether the object is driving on the path of the vehicle.

[0180] Correspondingly, the determining the motion type of the target two-wheeled vehicle as the longitudinal driving type or the static type when the motion state parameter value of the target two-wheeled vehicle meets the preset longitudinal driving condition or the preset static condition comprises:

[0181] The step S102c-3aa, when the absolute value of the object lateral velocity value of the target two-wheeled vehicle is less than or equal to a preset first object lateral velocity threshold value, and the object orientation angle value of the target two-wheeled vehicle is greater than a preset first angle threshold value, and the object driving in the vehicle path state value of the target two-wheeled vehicle is the determined state value, the motion type of the target two-wheeled vehicle is determined as the longitudinal driving type or the static type.

[0182] The embodiment is aimed at the longitudinal driving scene or the static scene of the target two-wheeled vehicle.

[0183] In other embodiments, in order to avoid inaccurate distance judgment when the target two-wheeled vehicle drives laterally, resulting in functional mis-triggering, the determining the motion type of the target two-wheeled vehicle corresponding to one of the plurality of preset motion conditions when the motion state parameter value of the target two-wheeled vehicle meets the one of the plurality of preset motion conditions comprises the following steps:

[0184] The step S102c-3b, when the motion state parameter value of the target two-wheeled vehicle meets the preset crossing driving condition, the motion type of the target two-wheeled vehicle is determined as the crossing driving type.

[0185] The crossing driving type corresponds to the preset crossing driving condition.

[0186] Optionally, the motion state parameter value comprises an object orientation angle value, an object lateral velocity value, an object longitudinal velocity value, and an object speed value.

[0187] Correspondingly, the determining the motion type of the target two-wheeled vehicle as the crossing driving type when the motion state parameter value of the target two-wheeled vehicle meets the preset crossing driving condition comprises:

[0188] The step S102c-3ba, when the absolute value of the object longitudinal velocity value of the target two-wheeled vehicle is less than a preset second object longitudinal velocity threshold value, and the absolute value of the object lateral velocity value of the target two-wheeled vehicle is greater than a preset third object lateral velocity threshold value, and the object orientation angle value of the target two-wheeled vehicle is greater than a preset third angle threshold value, and the object orientation angle value of the target two-wheeled vehicle is less than a preset fourth angle threshold value, and the object speed value of the target two-wheeled vehicle is greater than zero, the motion type of the target two-wheeled vehicle is determined as the crossing driving type.

[0189] The embodiment is aimed at the crossing driving scene of the target two-wheeled vehicle.

[0190] Step S103, when the motion type of the target two-wheeled vehicle belongs to one of the plurality of preset compensation types, determining a compensation distance matched with the motion type of the target two-wheeled vehicle based on the vehicle driving state parameter value and the motion state parameter value of the target two-wheeled vehicle.

[0191] The embodiments of the present application provide a compensation distance of a vehicle and a target two-wheeled vehicle, which avoids inaccurate distance judgment when the target two-wheeled vehicle is running, and thus avoids mis-triggering of the AEB signal.

[0192] In some embodiments, in order to avoid inaccurate distance judgment when the target two-wheeled vehicle is accelerating or decelerating longitudinally or is stationary, and thus avoid mis-triggering of the function, the motion state parameter value includes an object longitudinal relative speed value and an object lateral speed value.

[0193] Correspondingly, when the motion type of the target two-wheeled vehicle belongs to one of the plurality of preset compensation types, the compensation distance matched with the motion type of the target two-wheeled vehicle is obtained based on the motion state parameter value of the target two-wheeled vehicle, including:

[0194] Step S103a, when the motion type of the target two-wheeled vehicle belongs to a longitudinal driving type or a stationary type, an object longitudinal compensation distance value of the target two-wheeled vehicle is obtained based on an absolute value of the object longitudinal relative speed value of the target two-wheeled vehicle and the object lateral speed value of the target two-wheeled vehicle.

[0195] For example, the object longitudinal compensation distance value of the target two-wheeled vehicle is obtained by looking up a table based on the absolute value of the object longitudinal relative speed value of the target two-wheeled vehicle and the object lateral speed value of the target two-wheeled vehicle. The table is obtained through experiments.

[0196] The object longitudinal compensation distance value of the target two-wheeled vehicle obtained in the embodiments corresponds to an increased longitudinal compensation and a delayed triggering of the function.

[0197] In some embodiments, in order to avoid inaccurate distance judgment when the target two-wheeled vehicle is running laterally, and thus avoid mis-triggering of the function, the motion state parameter value includes an object lateral relative speed value and an object longitudinal speed value.

[0198] Correspondingly, when the motion type of the target two-wheeled vehicle belongs to one of the plurality of preset compensation types, the compensation distance matched with the motion type of the target two-wheeled vehicle is obtained based on the motion state parameter value of the target two-wheeled vehicle, including:

[0199] Step S103b, when the motion type of the target two-wheeled vehicle belongs to a lateral driving type, an object lateral compensation distance value of the target two-wheeled vehicle is obtained based on an absolute value of the object lateral relative speed value of the target two-wheeled vehicle and the object longitudinal speed value of the target two-wheeled vehicle.

[0200] For example, the object lateral compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the object lateral relative speed value of the target two-wheeled vehicle and the object longitudinal speed value of the target two-wheeled vehicle. The table is obtained through experiments.

[0201] The object lateral compensation distance value of the target two-wheeled vehicle obtained in the embodiment corresponds to extrapolating the vehicle to the target two-wheeled vehicle, thereby delaying the triggering function.

[0202] In the embodiment, when the motion state parameter value of the pending object meets the preset two-wheeled vehicle condition, the pending object is determined as the target two-wheeled vehicle, the delay length of the AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle are determined; when the motion type of the target two-wheeled vehicle belongs to one of the plurality of preset compensation types, a compensation distance matching the motion type of the target two-wheeled vehicle is obtained based on the motion state parameter value of the target two-wheeled vehicle. By delaying the length and increasing the compensation distance, the distance judgment when the target two-wheeled vehicle is driving is avoided, thereby ensuring the stable and reliable driving of the vehicle and avoiding the false triggering of AEB.

[0203] The application also provides a device embodiment for implementing the method steps of the above embodiments, based on the same name meaning explanation as the above embodiments, with the same technical effects as the above embodiments, which will not be repeated here.

[0204] As shown in Figure 2 The application provides a vehicle emergency processing device 200, which comprises:

[0205] The acquisition unit 201 is configured to acquire the driving state parameter value of the vehicle and the motion state parameter value of the pending object around the vehicle.

[0206] The determination unit 202 is configured to determine the pending object as a target two-wheeled vehicle when the motion state parameter value of the pending object meets the preset two-wheeled vehicle condition, and determine the delay length of the AEB signal of the vehicle and the motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle.

[0207] The obtaining unit 203 is configured to obtain a compensation distance matching the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle when the motion type of the target two-wheeled vehicle belongs to one of the plurality of preset compensation types.

[0208] Optionally, when the motion state parameter value of the pending object meets the preset two-wheeled vehicle condition, the pending object is determined as the target two-wheeled vehicle, and the delay length of the AEB signal triggered by the vehicle and the motion type of the target two-wheeled vehicle are determined based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle, including:

[0209] When the motion state parameter value of the pending object meets the preset two-wheeled vehicle condition, the pending object is determined as the target two-wheeled vehicle.

[0210] When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of preset delay conditions, the delay length of the AEB signal triggered corresponding to the preset delay condition is determined.

[0211] When the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to the preset motion condition is determined.

[0212] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of preset delay conditions, the delay length of the AEB signal triggered corresponding to the preset delay condition is determined, including:

[0213] When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of preset basic delay conditions, the delay length of the AEB signal triggered by the vehicle is determined to be equal to the basic delay length corresponding to the preset basic delay condition.

[0214] Optionally, the device further comprises:

[0215] The delay unit is configured to determine an increased delay length corresponding to one of a plurality of preset increased delay length conditions when the motion state parameter value of the target two-wheeled vehicle meets the preset increased delay length condition, and obtain the delay length of the AEB signal triggered by the vehicle based on the sum of the basic delay length and the increased delay length.

[0216] Optionally, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle meet one of a plurality of preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to the preset motion condition is determined, including:

[0217] When the motion state parameter value of the target two-wheeled vehicle meets a preset longitudinal driving condition or a preset static condition, the motion type of the target two-wheeled vehicle is determined to be a longitudinal driving type or a static type.

[0218] Optionally, the motion state parameter value includes an object longitudinal relative speed value and an object lateral speed value.

[0219] Correspondingly, the obtaining, when the motion type of the target two-wheeled vehicle belongs to one of the plurality of preset compensation types, of a compensation distance matched with the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle includes:

[0220] The object longitudinal compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the object lateral relative speed value of the target two-wheeled vehicle and the object longitudinal speed value of the target two-wheeled vehicle when the motion type of the target two-wheeled vehicle belongs to the longitudinal driving type or the static type.

[0221] Optionally, the determining, when the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy one of a plurality of preset motion conditions, of the motion type of the target two-wheeled vehicle corresponding to the preset motion condition includes:

[0222] The motion type of the target two-wheeled vehicle is determined as the crossing driving type when the motion state parameter value of the target two-wheeled vehicle satisfies a preset crossing driving condition.

[0223] Optionally, the motion state parameter value includes an object lateral relative speed value and an object longitudinal speed value.

[0224] Correspondingly, the obtaining, when the motion type of the target two-wheeled vehicle belongs to one of the plurality of preset compensation types, of a compensation distance matched with the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle includes:

[0225] The object lateral compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the object lateral relative speed value of the target two-wheeled vehicle and the object longitudinal speed value of the target two-wheeled vehicle when the motion type of the target two-wheeled vehicle belongs to the crossing driving type.

[0226] Optionally, the apparatus further includes:

[0227] The suppression unit is configured to suppress triggering of the AEB signal of the vehicle when the motion state parameter value of the pending object does not satisfy the preset two-wheeled vehicle condition.

[0228] Optionally, the obtaining of the driving state parameter value of the vehicle and the motion state parameter value of a pending object around the vehicle includes:

[0229] The driving state parameter value of the vehicle and visual information of a pending object around the vehicle are obtained.

[0230] The pending object and the motion state parameter value of the pending object are determined based on the visual information of the pending object.

[0231] In the embodiment of the present application, when the motion state parameter value of the pending object meets the preset two-wheeled vehicle condition, the pending object is determined as the target two-wheeled vehicle, the delay time of the trigger AEB signal corresponding to the set of preset delay conditions and the motion type of the target two-wheeled vehicle are determined; when the motion type of the target two-wheeled vehicle belongs to one of the plurality of preset compensation types, the compensation distance matched with the motion type of the target two-wheeled vehicle is obtained based on the motion state parameter value of the target two-wheeled vehicle. By delaying the time and increasing the compensation distance, the inaccuracy of distance judgment when the target two-wheeled vehicle is running is avoided, so as to ensure the stable and reliable running of the vehicle and avoid the false triggering of AEB.

[0232] The embodiment provides an electronic device, including: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method steps of the above embodiment.

[0233] The embodiment of the present application provides a non-volatile computer storage medium, the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps of the above embodiment.

[0234] Finally, it should be noted that: in the specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the method part.

[0235] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of handling an emergency event of a vehicle, characterized by, The method comprises: acquiring a driving state parameter value of a vehicle and a motion state parameter value of a pending object around the vehicle; when the motion state parameter value of the pending object meets a preset two-wheeled vehicle condition, determining that the pending object is a target two-wheeled vehicle, determining a delay time length for the vehicle to trigger an AEB signal and a motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle; when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle. The method further comprises: when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length. The method further comprises:

2. The method of claim 1, wherein, when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length. The method further comprises:

3. The method of claim 1, wherein, when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length. The method further comprises: when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length. The method further comprises: when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length. The method further comprises: when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length. The method further comprises: when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length. The method further comprises: when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length. The method further comprises: when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length. The method further comprises: when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length. The method further comprises: when the motion state parameter value of the target two-wheeled vehicle meets one of a plurality of preset increase delay time length conditions, determining an increase delay time length corresponding to the preset increase delay time length condition; obtaining the delay time length for the vehicle to trigger the AEB signal based on a sum of the basic delay time length and the increase delay time length.

5. The method of claim 1, wherein, When the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle satisfy one of multiple preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to that preset motion condition is determined, including: When the motion state parameter value of the target two-wheeled vehicle meets the preset traversing driving conditions, the motion type of the target two-wheeled vehicle is determined to be the traversing driving type.

6. The method according to claim 5, characterized in that, The motion state parameter values ​​include the object's lateral relative velocity value and the object's longitudinal velocity value; Accordingly, when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtaining a compensation distance matching the motion type of the target two-wheeled vehicle based on the motion state parameter value of the target two-wheeled vehicle includes: When the motion type of the target two-wheeled vehicle is traversing, the lateral compensation distance value of the target two-wheeled vehicle is obtained based on the absolute value of the lateral relative velocity of the target two-wheeled vehicle and the longitudinal velocity value of the target two-wheeled vehicle.

7. The method of claim 1, wherein, The method further includes: When the motion state parameter value of the object to be determined does not meet the preset two-wheeled vehicle conditions, the triggering of the AEB signal of the vehicle is suppressed.

8. The method of claim 1, wherein, The acquisition of the vehicle's driving state parameter values ​​and the motion state parameter values ​​of the objects to be determined around the vehicle includes: Obtain the driving status parameter values ​​of the vehicle and the visual information of the objects to be determined around the vehicle; The motion state parameter values ​​of the object to be determined are determined based on the visual information of the object to be determined.

9. A vehicle emergency event processing apparatus characterized by comprising: include: The acquisition unit is used to acquire the driving state parameter values ​​of the vehicle and the motion state parameter values ​​of the objects to be determined around the vehicle. The determining unit is used to determine the target two-wheeled vehicle when the motion state parameter value of the target object meets the preset two-wheeled vehicle conditions, and to determine the delay time for the vehicle to trigger the AEB signal and the motion type of the target two-wheeled vehicle based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle. The obtaining unit is configured to, when the motion type of the target two-wheeled vehicle belongs to one of a plurality of preset compensation types, obtain a compensation distance matching the motion type of the target two-wheeled vehicle based on the motion state parameter values ​​of the target two-wheeled vehicle; Wherein, when the motion state parameter value of the object to be determined meets the preset two-wheeled vehicle conditions, the object to be determined is determined as the target two-wheeled vehicle, and the delay time for the vehicle to trigger the AEB signal and the motion type of the target two-wheeled vehicle are determined based on the driving state parameter value of the vehicle and the motion state parameter value of the target two-wheeled vehicle, including: When the motion state parameter value of the object to be determined meets the preset two-wheeled vehicle conditions, the object to be determined is determined to be the target two-wheeled vehicle; When the motion state parameter value of the target two-wheeled vehicle satisfies one of multiple preset motion conditions, the motion type of the target two-wheeled vehicle corresponding to the preset motion conditions is determined. When the value of the driving state parameter of the vehicle and the value of the motion state parameter of the target two-wheeled vehicle satisfy one of a plurality of sets of preset basic delay conditions, it is determined that the delay duration for the vehicle to trigger the AEB signal is equal to a basic delay duration corresponding to the set of preset basic delay conditions.

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