Restoration method, system and equipment after starting of automatic emergency braking system, medium and vehicle

Abstract

The invention provides a recovery method after starting of an automatic emergency braking system, which comprises the following steps: acquiring information of a treaded pedal, and if the pedal information is acquired, sending an operation prompt to a driver, the operation prompt being used for prompting the driver to perform hand operation mapped with the pedal information; whether the action of the hand operation is consistent with the prompt content or not is judged, if yes, the electronic parking brake system is unlocked, and first information continues to be collected; if the first information is collected, the gear of the vehicle is not locked, and if the first information is not collected, the gear is locked; and if the action of the hand operation is not consistent with the prompt, the electronic parking brake system is kept locked. After the AEB is started, the AEB needs to be operated by hands and feet together, the hands need to carry out other operations according to prompts, the EPB can be removed only when the operation action is consistent with the prompted content, otherwise, the EPB is not removed, and even if an accelerator pedal is mistakenly stepped, the vehicle does not advance in an accelerated mode, so that collision is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle assisted driving, and in particular to a recovery method, system, equipment, medium and vehicle after an automatic emergency braking system is activated. Background Art

[0002] The Autonomous Emergency Braking (AEB) system is an autonomous road vehicle safety system that uses sensors to monitor the vehicle in front and the relative speed and distance between the vehicle and the target vehicle. It also detects obstacles in front and behind the vehicle, and calculates what is about to happen through a series of internal program operations. Normally, AEB will first sound an alarm, and in dangerous situations where the driver does not actively brake, the brake signal will be transmitted to AEB for automatic braking. Emergency braking can automatically avoid collisions or reduce their impact.

[0003] After the existing automatic emergency braking system is activated, the brake pressure is maintained for a certain period of time, and the brake can be released by simply pressing the accelerator pedal, or after the automatic emergency braking system AEB is activated, the electronic parking brake system (EPB) is automatically pulled up, and the gear is automatically switched to P gear. After the gear is switched, the EPB brake can be released by pressing the accelerator pedal. Since pressing the accelerator pedal and switching gears are inertial actions of the driver when driving the vehicle, the driver may release the brake by mistake based on muscle memory, which may cause a collision. Summary of the invention

[0004] In view of the shortcomings of the prior art described above, an object of the present invention is to provide a method, system, device, medium and vehicle for recovery after AEB is activated, so as to solve the problem in the prior art that after AEB is activated, the driver may release the brakes due to driving inertia by stepping on the accelerator pedal or switching gears when the vehicle is unsafe, resulting in a collision.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a method for recovering an automatic emergency braking system after it is activated, which is characterized by comprising:

[0006] Collecting the pedal information stepped on, and if the pedal information is collected, issuing an operation prompt to the driver, the operation prompt is used to prompt the driver to perform a hand operation mapped to the pedal information; the pedal is a brake pedal or an accelerator pedal;

[0007] Determining whether the hand operation is consistent with the content of the operation prompt, if the hand operation is consistent with the content of the operation prompt, the electronic parking brake system is unlocked, and the first information is continuously collected, where the first information is at least one of the accelerator pedal information and the gear shift information;

[0008] If the first information is collected, the gear of the vehicle is not locked; if the first information is not collected, the gear is locked;

[0009] If the hand operation action is inconsistent with the content of the operation prompt, the electronic parking brake system remains locked.

[0010] Furthermore, before issuing an operation prompt to the driver through images and / or sounds, the automatic emergency braking system is also used to determine whether there is a risk at present. If the automatic emergency braking system determines that there is no risk, an operation prompt is issued to the driver through images and / or sounds; if the automatic emergency braking system determines that there is a risk, no operation prompt is issued to the driver, and the electronic parking brake system remains locked.

[0011] Furthermore, before the electronic parking brake system is unlocked, the driver's state is collected. When the driver's state meets the preset driving conditions, the electronic parking brake system is unlocked, otherwise the electronic parking brake system remains locked.

[0012] Further, if the first information is collected, the gear is not locked including:

[0013] If the first information is collected within a predetermined time after the operation prompt is issued to the driver, the vehicle resumes normal operation; if the first information is not collected within a predetermined time after the operation prompt is issued to the driver, the gear is locked.

[0014] Furthermore, the pedal information includes the depth of the pedal being depressed, and before the operation prompt is issued to the driver, it includes:

[0015] The depth of the pedal being depressed is compared with a preset depth. If the depth of the pedal being depressed is greater than or equal to the preset depth, an operation prompt is issued to the driver; if the depth of the pedal being depressed is less than the preset depth, no operation prompt is issued to the driver.

[0016] Furthermore, by pressing the release button, the automatic emergency braking system will suspend intervention and the vehicle will return to normal state. Then, by pressing the accelerator pedal, the electronic parking brake system will release the brake.

[0017] On the other hand, the present application provides a recovery system for an automatic emergency braking system after activation, characterized in that it includes:

[0018] A collection module, used for collecting pedal information, and if the pedal information is collected, an operation prompt is issued to the driver, wherein the operation prompt is used to prompt the driver to perform a hand operation mapped to the pedal information; the pedal is a brake pedal or an accelerator pedal;

[0019] a judgment module, for judging whether the hand operation is consistent with the content of the operation prompt, if the hand operation is consistent with the content of the operation prompt, the electronic parking brake system is unlocked, and the first information is continuously collected, wherein the first information is at least one of the accelerator pedal information and the gear shift information;

[0020] If the first information is collected, the gear of the vehicle is not locked; if the first information is not collected, the gear is locked.

[0021] On the other hand, the present application provides a device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method for recovery after the automatic emergency braking system is activated when executing the computer program.

[0022] On the other hand, the present application provides a computer-readable storage medium having a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for recovery after the automatic emergency braking system is activated are implemented.

[0023] On the other hand, the present application provides a vehicle, which is equipped with an automatic emergency braking system and an electronic parking brake system. When the automatic emergency braking system of the vehicle is activated, the vehicle is recovered using the above-mentioned recovery method after the automatic emergency braking system is activated.

[0024] As described above, the present invention has the following beneficial effects: in the method provided by the present application, when the automatic emergency braking system is activated, the electronic parking brake system is automatically pulled up. If the brakes are to be released, both hands and feet are required to operate, and the hand operation is not just to switch gears. The hands also need to perform other operations according to the operation prompts, and the operation actions must be consistent with the content of the operation prompts to release the electronic parking brake system. Otherwise, the electronic parking brake system will not be released. Even if the accelerator pedal is accidentally stepped on, the vehicle will not accelerate forward, thereby avoiding a collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Shown is a flow chart of a recovery method after the automatic emergency braking system provided by the present invention is activated. DETAILED DESCRIPTION

[0026] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0027] The present invention provides a recovery method after an automatic emergency braking system is activated. After the automatic emergency braking system AEB is activated, the electronic parking brake system EPB is pulled up, and the vehicle will be completely stopped. In order to prevent the vehicle from being misoperated, the present invention designs some operations so that the vehicle cannot be started according to conventional operations after the AEB is activated. The recovery method after the automatic emergency braking system is activated includes the following steps:

[0028] The pedal information is collected, and if the pedal information is collected, an operation prompt is issued to the driver, and the operation prompt is used to prompt the driver to perform hand operations mapped to the pedal information, and prompt the driver to perform corresponding hand operations through images and / or sounds. The pedal is a brake pedal or an accelerator pedal. If the vehicle is a gasoline vehicle, the accelerator pedal is an accelerator, and if the vehicle is an electric vehicle, the accelerator pedal is an electric switch.

[0029] The AEB system mainly uses sensors to monitor the situation in front of the vehicle. Common sensors include radar, camera, and laser sensors. These sensors continuously scan the road in front of the vehicle to detect potential collision risks. When the sensor detects an obstacle in front of the vehicle and the system determines that a collision may occur, AEB will first send a warning signal to remind the driver to take action. If the driver does not respond, the system will automatically activate the braking system, reduce the speed of the vehicle, or initiate automatic braking to avoid a collision or reduce the severity of the collision.

[0030] When the AEB system of existing vehicles is activated, after a few seconds, the brake pressure is released, and the EPB (Electronic Parking Brake) electronic parking brake system is activated, and then the brake can be released by stepping on the accelerator pedal or switching gears. This operation is an inertial operation during driving. This application adds hand operation to change the inertial operation of single stepping on the accelerator or shifting gears, so that the driver can clearly understand his own operation behavior.

[0031] After AEB is activated, the EPB system is activated. Before the vehicle returns to normal, AEB is used to monitor the external conditions of the vehicle. Only when AEB determines that there is no risk at present, it further determines whether the hand operation is consistent with the content of the operation prompt; if after EPB is activated, AEB determines that the vehicle is still at risk of collision, it will not prompt the driver to perform the corresponding hand operation, EPB will not be unlocked, and no operation prompt will be issued, and there is no need to determine whether the hand operation is consistent with the prompt. After EPB (electronic parking brake system) is activated, before EPB is released, the automatic emergency braking system AEB plays a vital role. AEB will continue to monitor various conditions outside the vehicle in all directions through a variety of advanced detection equipment such as radar, cameras and laser sensors. The vehicle returns to normal state as pointed out in this application, that is, all braking operations of the vehicle are released, the vehicle can be started according to normal operations, AEB and EPB are unlocked, and the gear position is normal.

[0032] During this process, if the vehicle is in an extremely severe and unrecoverable state, such as a large obstacle in front of the vehicle and very close, or multiple objects approaching quickly around, resulting in a high and difficult-to-avoid collision risk, it will be clearly displayed as a state that cannot be automatically released. This is to allow the driver to clearly understand the degree of danger the vehicle is currently facing and avoid incorrect operations. In other words, only when AEB determines that there is no risk outside the vehicle will the system further determine whether the driver's hand operation is consistent with the content of the operation prompt. For example, if the operation prompt requires the driver to perform specific hand operations to release EPB, the system will confirm whether the driver has performed these operations correctly. If the driver's hand operation is consistent with the content of the operation prompt and AEB also confirms that there is no risk, then EPB will be released. However, if after EPB is activated, AEB determines that the vehicle is still at risk of collision, the system will not determine whether the hand operation is consistent with the content of the operation prompt. In this case, EPB will remain locked to ensure the safety of the vehicle. At the same time, the driver will not be prompted to perform any operation prompts to avoid misleading the driver to perform incorrect operations in dangerous situations. In short, in complex situations after EPB is activated, AEB and the driver's hand operation work together to ensure the safety of the vehicle. Only under the premise of ensuring the external safety of the vehicle, the system will gradually guide the driver to perform correct operations, release EPB, and restore the normal driving of the vehicle. When the danger is not eliminated, the system will remain highly alert to protect the lives of the driver and passengers to the greatest extent.

[0033] When the vehicle's EPB is started, in addition to continuing to monitor the situation outside the vehicle through AEB, the situation of the driver inside the vehicle must also be monitored. Therefore, the driver's status must also be collected. When the driver's status meets the preset driving conditions, the EPB will be unlocked, otherwise the EPB will not be unlocked.

[0034] When the vehicle's EPB is activated, in order to ensure that the vehicle can resume normal driving in a safe manner, not only the external situation of the vehicle must be continuously monitored through AEB, but also the status of the driver in the car must be closely monitored. In this case, the system will use advanced sensors and monitoring technologies to collect the driver's status information, which may include but is not limited to the driver's attention level, physical condition, mental state, and ability to operate the vehicle control device. For example, the driver's facial expression and line of sight are monitored by a camera to determine whether his attention is focused; the driver's heart rate, blood pressure and other physiological indicators are detected by biosensors to assess whether his physical condition is suitable for continuing to drive. The EPB will only be unlocked when the driver's status meets the preset driving conditions. Specifically, if the driver shows a high degree of attention, good physical condition and stable mental state, and can operate the vehicle control device skillfully, the system will consider the driver to have the ability to continue driving, thereby unlocking the EPB. This ensures that the vehicle can be effectively controlled after resuming driving, reducing the risk of accidents. However, if the driver's status does not meet the preset driving conditions, such as the driver is tired, distracted, physically unwell or mentally unstable, the EPB will remain locked. In this case, the system may issue a warning message to remind the driver to pay attention to his or her condition and suggest that he or she take appropriate measures, such as rest, seek medical help, or wait for the condition to improve before trying to resume driving. In short, when the vehicle's EPB is activated, comprehensive monitoring of the vehicle's external conditions and the driver's condition inside the vehicle is an important part of ensuring driving safety. Only when the driver's condition meets the preset driving conditions will the EPB be unlocked, thus providing strong protection for the vehicle's safe driving.

[0035] After AEB intervenes and causes the vehicle to brake, EPB starts. When AEB determines that there is no risk outside the vehicle and the system determines that the driver's state meets the driving requirements, the system will prompt the driver to perform some operations to release EPB and restore the vehicle to normal. First, the driver randomly steps on a pedal, which can be the brake pedal or the accelerator pedal. After the system collects the pedal status, it will give the driver corresponding hand operation prompts. The driver performs hand operations according to the content of the operation prompts. The system will collect the driver's operation status and determine whether the hand operation action is consistent with the content of the operation prompt. If they are consistent, EPB is unlocked; if the hand operation action is inconsistent with the content of the operation prompt, EPB remains locked.

[0036] In an emergency, when the driver is in a panic, he may operate the pedal by mistake. At this time, there are two possibilities, one is to step on the brake pedal, and the other is to step on the accelerator pedal. In view of the fact that the brake pedal is usually located on the left side of the accelerator pedal, in order to accurately judge the driver's operation and take corresponding measures in time, we can first detect which pedal the driver stepped on. The hand operation can be to operate any button on the dashboard. In some embodiments, the hand operation is to turn the turn signal lever, and the operation prompt forms a mapping relationship with the pedal information. For example, if the brake pedal is stepped on, the corresponding hand operation prompt is to turn the turn signal lever down. If the accelerator pedal is stepped on, the corresponding hand operation prompt is to turn the turn signal lever up.

[0037] When prompting the driver to move the turn signal lever, the driver can be prompted to perform the corresponding operation through images and / or voice. For example, the corresponding lever information can be displayed on the instrument panel or the central control screen, and then the driver can be prompted by voice. This design is not only to verify whether the driver follows the correct operating steps, but also to evaluate the driver's current mental state to ensure that he has the ability to continue driving. If the driver can make the correct hand movements according to the operating prompts, that is, to move the turn signal lever downward when the brake pedal is pressed, or to move the turn signal lever upward when the accelerator pedal is pressed, then the EPB will be unlocked. Subsequently, the system will continue to monitor the use of the accelerator pedal and the change of gear position to ensure that the vehicle can be restarted safely. The driver first presses the pedal, and the system displays the corresponding hand operation action on the instrument or central control according to the pedal information. If the driver's hand operation action is inconsistent with the hand operation action in the operation prompt, for example, if the brake pedal is pressed and the hand operation is to push the turn signal lever upward, the foot and hand operations do not correspond, and the vehicle cannot be restored to the normal operating state; or if the accelerator pedal is pressed and the hand operation is to push the turn signal lever downward, the foot and hand operations do not correspond, and the vehicle cannot be restored to the normal operating state.

[0038] When the hand and foot movements are consistent with the operation prompt information, the EPB is unlocked. Then the first information is continuously collected, and the first information is at least one of the accelerator pedal information and the gear shift information; if the first information is collected, the vehicle gear is not locked, and if the first information is not collected, the gear is locked; if the hand operation movement is inconsistent with the operation prompt, the electronic parking brake system remains locked.

[0039] When the driver's hand and foot operation actions are completely consistent with the operation prompts, EPB will be unlocked. After unlocking, the system will continue to collect the first information. This is to further determine the driver's operating intention so that the vehicle can make corresponding adjustments based on the actual situation. If the system collects the first information, it means that the driver has a clear intention to continue driving. In this case, AEB will return to normal, ready to play its due role in the face of potential dangers, providing strong protection for driving safety.

[0040] However, if the system detects that the accelerator pedal has not accelerated and there is no gear shift, this may mean that the driver has no intention to continue driving for the time being or there are other uncertain situations. In order to ensure the safety of the vehicle, the system will automatically lock the gear. The purpose of this is to prevent the vehicle from accidentally moving in an uncertain state, thereby reducing potential risks. After the EPB is unlocked, the driver needs to accelerate or shift gears to ensure that the vehicle is fully restored to normal driving conditions. If the driver does not accelerate or shift gears, the system will automatically switch the gear to the gear lock state, which is a safety mechanism designed to ensure that the vehicle remains stable and safe in all situations. At the same time, this also reminds the driver to make correct operations in a timely manner according to the actual situation after the vehicle is unlocked to ensure driving safety.

[0041] In order to further determine the vehicle's operating status and ensure driving safety, the EPB will be unlocked when the driver's hand and foot movements are completely consistent with the content of the operation prompt. After unlocking, the system will continuously monitor the vehicle's status. Specifically, it will collect the first information within the predetermined time. The predetermined time is set based on the public's reaction time, aiming to give the driver a reasonable reaction time, while also ensuring that the vehicle system can make correct judgments in a timely manner.

[0042] Specifically, it means collecting the first information within a predetermined time. The first information may be an acceleration action of the accelerator pedal or a gear switching action or both. If the first information is collected within the predetermined time, it indicates that the driver has a clear intention to continue driving, and the vehicle will resume normal operation. In this case, the various systems of the vehicle will work together to provide the driver with a smooth and safe driving experience.

[0043] However, if the first information is not collected within the predetermined time, the system will determine that the driver may not intend to continue driving or there are other uncertain situations. In order to prevent the vehicle from accidentally moving in this uncertain state and thus reduce potential risks, the system will automatically lock the gear. This can effectively ensure that the vehicle can remain stable and safe in various situations and avoid accidents caused by uncertain operations or negligence of the driver.

[0044] That is to say, after the EPB is unlocked, within the preset time, as long as there is a change in the accelerator pedal or the gear position, it means that the driver has a clear intention to continue driving, the vehicle gear is not locked, the vehicle's AEB, EPB and gear position are normal, and the vehicle can be driven according to normal operations. If neither the accelerator pedal nor the gear position changes, the system will determine that the driver may not intend to continue driving temporarily or there are other uncertain situations. After the preset time, the gear will be automatically locked.

[0045] In some embodiments, when the pedal is stepped on by mistake, the depth of the stepped pedal may not be enough. Therefore, when collecting the stepped pedal information, it is necessary to collect the depth information of the stepped pedal. When the stepped pedal depth is greater than or equal to the preset depth, it is determined to be effective, and then the driver is prompted by images and / or sounds. When the stepped pedal depth is less than the preset depth, it is determined to be invalid, and no operation prompt is issued to the driver.

[0046] In the process of the vehicle starting AEB and returning to normal state, pedal information will be collected once or twice. The first collection is the brake pedal or accelerator pedal, and the second collection is the information of the accelerator pedal. During these two collection processes, the depth of the pedals pressed twice needs to be greater than or equal to the preset depth. The purpose of this design is to prevent the occurrence of accidental stepping. If the depth of the pedal is not enough, it may cause the system to misjudge the driver's operating intention, thereby causing unnecessary risks. By strictly requiring the depth of the pedal, the accuracy of the system's judgment can be improved, ensuring that the vehicle can operate safely and stably in various situations. The depth information of the pedal being stepped on can be detected by a force sensor or a position sensor.

[0047] After the vehicle is activated by AEB, if the driver determines that the vehicle is within the controllable range, the driver is deemed to have the driving conditions. The driver can press the release button to suspend AEB intervention and the vehicle returns to normal state, and then step on the accelerator pedal to release the EPB brake. After pressing the release button, the driver can be reminded through a series of operations or can directly exit AEB. For example, when the release button is pressed, AEB will gradually return to normal state. During this process, the system can also make a series of adjustments and confirmations to ensure that it will not have a negative impact on the vehicle's driving when it resumes normal operation. At the same time, when the driver steps on the accelerator pedal, EPB will release the braking state, allowing the vehicle to accelerate forward smoothly. Through this release button, the driver can choose to suspend AEB intervention. This function is very practical in certain situations. For example, in some special road conditions, such as reversing on narrow roads or driving on complex construction sites, the automatic intervention of AEB may interfere with the driver's operation. At this time, the driver can press the release button to suspend the AEB function so that the vehicle can be controlled more freely. The release button can be used to choose whether to suspend AEB intervention according to actual conditions. The release button can be a phone hang-up button set on the steering wheel. When the phone hang-up button is long pressed, it is set to suspend the operation of the vehicle driver behavior recognition system during this time period, suspend the intervention of AEB, and the EPB lock can be canceled by stepping on the accelerator / electric switch.

[0048] On the other hand, the present application provides a recovery system for AEB, comprising:

[0049] The acquisition module is used to collect pedal information. If the pedal information is collected, an operation prompt is issued to the driver, and the operation prompt is used to prompt the driver to perform a hand operation mapped to the pedal information; the pedal is a brake pedal or an accelerator pedal. The driver's state and gear position information are also collected, specifically, whether the pedal stepped on for the first time is the brake pedal or the accelerator pedal, and the depth information of the pedal stepped on for the first time is also collected, and the depth information of the accelerator pedal stepped on for the second time is collected. The depth information of the pedal can be detected by a distance sensor. A distance sensor is installed near the brake pedal and the accelerator pedal of the vehicle. When the driver steps on the pedal, the sensor will monitor the depth change of the pedal in real time and transmit these data to the control system of the vehicle. The control system can judge whether the depth of the pedal stepping is greater than or equal to the preset depth based on these data to determine whether it is an effective pedal stepping, and take corresponding operation prompts or system responses.

[0050] a judgment module, for judging whether the hand operation is consistent with the content of the operation prompt, if the hand operation is consistent with the content of the operation prompt, the electronic parking brake system is unlocked, and the first information is continuously collected, wherein the first information is at least one of the accelerator pedal information and the gear shift information;

[0051] If the first information is collected, the gear of the vehicle is not locked; if the first information is not collected, the gear is locked.

[0052] The judgment module is used to judge the type of pedal that is stepped on, whether the pedal stepping action is valid, and whether the hand operation is consistent with the content of the operation prompt. For judging the effectiveness of the pedal stepping action, the judgment module will make a judgment based on a series of preset standards and parameters. For example, it will determine whether the depth of the pedal being stepped on is greater than or equal to the preset depth by analyzing data from devices such as distance sensors. If the depth of the pedal stepping meets this condition, the judgment module will identify it as a valid pedal stepping action. Conversely, if the depth of the pedal stepping is less than the preset depth, it will be judged as an invalid pedal stepping action. This precise judgment can ensure that the vehicle system accurately identifies the driver's operating intention and avoids unnecessary system responses or potential risks caused by misjudgment.

[0053] In determining whether the hand operation is consistent with the operation prompt, the judgment module will compare the driver's actual hand operation with the operation prompt given by the system. When the driver performs hand operation according to the operation prompt, the judgment module will confirm whether the two are completely consistent. If they are consistent, the system can continue with the subsequent operation process, such as unlocking the EPB. If the hand operation is inconsistent with the operation prompt, the judgment module will prevent the system from performing the next operation to ensure that the vehicle operates in a safe state.

[0054] The camera plays an important role in the vehicle system. It can collect the driver's status. In addition to judging whether the pedal pressing action is effective and whether the hand operation is consistent with the operation prompt, the judgment module is also responsible for judging whether the driver's status meets the driving requirements. The camera can assess the driver's attention level, fatigue level and alertness by capturing information such as the driver's facial expressions, eye direction, head posture, etc. For example, when the camera detects signs such as frequent blinking, yawning or lowering of the head, it may indicate that the driver is in a state of fatigue. In addition, the camera can also monitor whether the driver is distracted, such as checking the phone or talking to passengers. The judgment module will judge whether the driver's status meets the requirements for safe driving based on the information collected by the camera, combined with preset standards and algorithms. If the judgment module determines that the driver's status does not meet the requirements, such as the driver is too tired or seriously distracted, the system may issue a warning signal to remind the driver to pay attention to his own status. In some cases, the system may even take further measures, such as limiting the vehicle's speed or activating AEB, to ensure driving safety.

[0055] A control module is used to control the operation of AEB. In some embodiments, the control module is an ECU (electronic control unit), which continuously receives information from various sensors, such as radar, camera, laser sensor, etc. These sensors monitor key data such as the road conditions in front of the vehicle, the distance to obstacles, and the relative speed in real time. Based on these data and pre-set algorithms and parameters, the ECU accurately determines when to start, adjust, or shut down AEB.

[0056] When the sensor detects a potential collision risk in front of the vehicle, the ECU will quickly analyze and process this information. If the judgment result shows that the collision risk is high, the ECU will immediately issue a command to activate the AEB system. At this time, AEB will automatically apply the brakes, reduce the speed by adjusting the braking force, and even completely stop the vehicle when necessary to avoid a collision.

[0057] During the operation of the AEB system, the ECU will continuously monitor various status parameters of the vehicle. For example, it will pay close attention to changes in the vehicle's speed, changes in the distance to the obstacle in front, and the driver's operational response. If the situation changes, such as the driver takes emergency braking measures or the distance between the vehicle and the obstacle gradually increases, the ECU will adjust the AEB braking force accordingly according to the new situation, or release the brakes at the appropriate time to ensure that the vehicle's driving is safe and smooth.

[0058] On the other hand, the present application provides a device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method for recovery after AEB startup when executing the computer program.

[0059] On the other hand, the present application provides a computer-readable storage medium, which has a computer program, characterized in that when the computer program is executed by a processor, the steps of the above-mentioned recovery method after AEB startup are implemented.

[0060] On the other hand, the present application provides a vehicle, on which AEB and EPB are installed, and is characterized in that when the AEB of the vehicle is activated, the vehicle is recovered using the above-mentioned recovery method after AEB is activated.

[0061] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0062] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0063] The units involved in the embodiments of the present invention may be implemented by software or hardware, and the units described may also be arranged in a processor. The names of these units do not, in some cases, limit the units themselves. The units or modules described may also be arranged in a processor, for example, may be described as: a processor includes a data acquisition module, a first processing module, a second processing module, and a result generation module. The names of these units or modules do not, in some cases, limit the units or modules themselves.

[0064] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A method for restoring an automatic emergency braking system after activation, characterized in that: include: Collecting the pedal information pressed down, and if the pedal information is collected, issuing an operation prompt to the driver, wherein the operation prompt is used to prompt the driver to perform a hand operation mapped to the pedal information; The pedal is a brake pedal or an accelerator pedal; Determining whether the hand operation is consistent with the content of the operation prompt, if the hand operation is consistent with the content of the operation prompt, the electronic parking brake system is unlocked, and the first information is continuously collected, where the first information is at least one of the accelerator pedal information and the gear shift information; If the first information is collected, the gear of the vehicle is not locked; if the first information is not collected, the gear is locked; If the hand operation action is inconsistent with the content of the operation prompt, the electronic parking brake system remains locked.

2. The recovery method according to claim 1, characterized in that: An operation prompt is issued to the driver, specifically through images and / or sounds. Before the operation prompt is issued to the driver through images and / or sounds, the automatic emergency braking system is also included in determining whether there is a risk at present. If the automatic emergency braking system determines that there is no risk, an operation prompt is issued to the driver through images and / or sounds; if the automatic emergency braking system determines that there is a risk, no operation prompt is issued to the driver, and the electronic parking brake system remains locked.

3. The recovery method according to claim 1, characterized in that: Before the electronic parking brake system is unlocked, the driver's state is also collected. When the driver's state meets the preset driving conditions, the electronic parking brake system is unlocked, otherwise the electronic parking brake system remains locked.

4. The recovery method according to claim 1, characterized in that: If the first information is collected, the gear is not locked including: If the first information is collected within a predetermined time after the operation prompt is issued to the driver, the vehicle resumes normal operation; if the first information is not collected within a predetermined time after the operation prompt is issued to the driver, the gear is locked.

5. The recovery method according to claim 1, characterized in that: The pedal information includes the depth of the pedal being depressed, and before the driver is prompted with an operation prompt, includes: The depth of the pedal being depressed is compared with a preset depth. If the depth of the pedal being depressed is greater than or equal to the preset depth, an operation prompt is issued to the driver; if the depth of the pedal being depressed is less than the preset depth, no operation prompt is issued to the driver.

6. The recovery method according to any one of claims 1 to 5, characterized in that: Press the release button to suspend the automatic emergency braking system and return the vehicle to normal. Then press the accelerator pedal to release the electronic parking brake system.

7. A recovery system for an automatic emergency braking system after activation, characterized in that: include: A collection module, used for collecting pedal information, and if the pedal information is collected, an operation prompt is issued to the driver, wherein the operation prompt is used to prompt the driver to perform a hand operation mapped to the pedal information; The pedal is a brake pedal or an accelerator pedal; a judgment module, for judging whether the hand operation is consistent with the content of the operation prompt, if the hand operation is consistent with the content of the operation prompt, the electronic parking brake system is unlocked, and the first information is continuously collected, wherein the first information is at least one of the accelerator pedal information and the gear shift information; If the first information is collected, the gear of the vehicle is not locked; if the first information is not collected, the gear is locked.

8. A device, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the recovery method after the automatic emergency braking system is activated are implemented as described in any one of claims 1 to 6.

9. A computer-readable storage medium, the computer-readable storage medium having a computer program, characterized in that: When the computer program is executed by a processor, the steps of the recovery method after the automatic emergency braking system is activated are implemented as described in any one of claims 1 to 6.

10. A vehicle, wherein an automatic emergency braking system and an electronic parking brake system are installed on the vehicle, characterized in that: When the automatic emergency braking system of the vehicle is activated, the vehicle is restored using the recovery method after the automatic emergency braking system is activated as described in any one of claims 1 to 6.

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