Method, system, device, medium and vehicle for recovery after activation of an automatic emergency braking system

Abstract

The application provides a recovery method after automatic emergency braking system starting, comprising collecting pedal information, if the pedal information is collected, sending an operation prompt to the driver, the operation prompt is used for prompting the driver to perform a hand operation corresponding to the pedal information; judging whether the action of the hand operation is consistent with the content of the prompt, if yes, the electronic parking brake system is unlocked, and the first information is continuously collected; 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 action of the hand operation is not consistent with the prompt, the electronic parking brake system is kept locked. The application needs to operate the hand and the foot together after AEB starting, the hand needs to perform other operations according to the prompt, and the action of the operation needs to be consistent with the content of the prompt, so that the EPB is released, otherwise the EPB is not released, even if the accelerator pedal is mistakenly stepped on, the vehicle will not accelerate forward, so that the collision is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle auxiliary driving, in particular to a recovery method, system, device, medium and vehicle after the start of an automatic emergency braking system. BACKGROUND

[0002] The automatic emergency braking system (AEB) is an autonomous and automatic road vehicle safety system that monitors the front vehicle and detects the relative speed and distance between the target vehicle through sensors, and also detects the obstacles in front and rear of the vehicle, calculates the situation that will occur through a series of internal program operations. In general, AEB first gives an alarm, and in the dangerous situation where the driver does not actively brake, the brake signal is transmitted to AEB to automatically brake, and through emergency braking, the collision can be automatically avoided or its impact can be reduced.

[0003] The existing automatic emergency braking system is started, the brake pressure is maintained for a certain period of time, and the brake can be released by single pressing the accelerator pedal, or the electronic parking brake system (EPB) is automatically pulled up after the start of the automatic emergency braking system AEB, and the gear is automatically switched to P. When the gear is switched, the accelerator pedal is pressed to release the EPB brake. Since the accelerator pedal is pressed and the gear is switched, it is an inertial action of the driver when driving the vehicle, and the driver may misoperate and release the brake based on muscle memory, and then a collision occurs. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a recovery method, system, device, medium and vehicle after the start of AEB, which is used to solve the problem that when AEB is started, the driver may release the brake in an unsafe situation of the vehicle due to driving inertia by pressing the accelerator pedal and switching the gear, resulting in a collision.

[0005] To achieve the above-mentioned purpose and other related purposes, on one hand, the present application provides a recovery method after the start of an automatic emergency braking system, characterized in that it comprises:

[0006] Collecting the information of the pressed pedal, if the pedal information is collected, an operation prompt is sent to the driver, the operation prompt is used to prompt the driver to perform a hand operation corresponding to the pedal information; the pedal is a brake pedal or an accelerator pedal;

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

[0008] 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.

[0009] If the action of the hand operation is not consistent with the content of the operation prompt, the electronic parking brake system remains locked.

[0010] Further, before the operation prompt is given to the driver through the image and / or sound, it further comprises determining whether there is a risk at present through the automatic emergency braking system, if the automatic emergency braking system determines that there is no risk, the operation prompt is given to the driver through the image and / or sound, if the automatic emergency braking system determines that there is a risk, the operation prompt is not given to the driver, and the electronic parking brake system remains locked.

[0011] Further, before the electronic parking brake system is unlocked, it further comprises collecting the state of the driver, when the state of the driver meets the pre-set driving condition, 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, which comprises:

[0013] The first information is collected within a predetermined time after the operation prompt is given to the driver, and the vehicle returns to normal operation, and the first information is not collected within a predetermined time after the operation prompt is given to the driver, and the gear is locked.

[0014] Further, the pedal information comprises the depth of the pedal depression, before the operation prompt is given to the driver, it comprises:

[0015] The depth of the pedal depression is compared with the pre-set depth, if the depth of the pedal depression is greater than or equal to the pre-set depth, the operation prompt is given to the driver, and if the depth of the pedal depression is less than the pre-set depth, the operation prompt is not given to the driver.

[0016] Further, the release button is pressed, the automatic emergency braking system is suspended, the vehicle returns to the normal state, and then the accelerator pedal is depressed, and the electronic parking brake system is released.

[0017] On the other hand, the application provides a recovery system for the automatic emergency braking system after starting, which comprises:

[0018] The collecting module is used for collecting pedal information, and if the pedal information is collected, an operation prompt is sent to the driver, the operation prompt being used for prompting the driver to perform a hand operation corresponding to the pedal information; the pedal is a brake pedal or an accelerator pedal;

[0019] The judging module is used for judging whether the action of the hand operation is consistent with the content of the operation prompt, and if the action of 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, the first information being at least one of accelerator pedal information and gear shifting information;

[0020] 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.

[0021] In another aspect, the present application provides a device including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method for recovery after the automatic emergency brake system is started as described above.

[0022] In another aspect, the present application provides a computer readable storage medium having a computer program, and the computer program is executable on a processor to implement the steps of the method for recovery after the automatic emergency brake system is started as described above.

[0023] In another aspect, the present application provides a vehicle having an automatic emergency brake system and an electronic parking brake system, and the vehicle is recovered by the method for recovery after the automatic emergency brake system is started as described above.

[0024] As described above, the present application has the following beneficial effects: the method provided by the present application is used for recovery after the automatic emergency brake system is started, the electronic parking brake system is automatically pulled up, if the brake is to be released, the hand and the foot need to be operated together, the action of the hand operation is not only to shift the gear, the hand also needs to perform other operations according to the operation prompt, and the action of the operation needs to be consistent with the content of the operation prompt, so that the electronic parking brake system is released, otherwise the electronic parking brake system is not released, even if the accelerator pedal is mistakenly stepped on, the vehicle will not accelerate forward, so as to avoid collision. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 The flow chart of the method for recovery after the automatic emergency brake system is started is shown. DETAILED DESCRIPTION

[0026] Following, specific embodiments of the present application are illustrated by way of specific examples, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure of this specification. The present application can also be implemented or applied by other different specific embodiments, and various modifications or changes can be made to the details in this specification based on different views and applications, without departing from the spirit of the present application.

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

[0028] Collect the pedal information, if the pedal information is collected, the operation prompt is sent to the driver, the operation prompt is used to prompt the driver to perform the hand operation corresponding to the pedal information, and the driver is prompted to perform the corresponding hand operation through images and / or sound. Wherein, the pedal is a brake pedal or an accelerator pedal, if the vehicle is an oil car, the accelerator pedal is a throttle, and if the vehicle is an electric car, the accelerator pedal is an electric door.

[0029] The AEB system mainly monitors the situation in front of the vehicle through sensors. Common sensors include radar, cameras, and laser sensors, etc. 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 judges that a collision may occur, AEB will first issue a warning signal to remind the driver to take measures. If the driver does not respond, the system will automatically activate the braking system to reduce the vehicle speed or start automatic braking to avoid or reduce the degree of collision.

[0030] The existing vehicle, when the AEB system is started, the brake pressure is released after a few seconds, the EPB (Electronic Parking Brake) electronic parking brake system is started, and then the brake is released by stepping on the accelerator pedal or switching the gear. This operation is an inertial operation during driving, and the present application changes the inertial operation of single throttle or gear shifting by adding hand operation, so that the driver is clear about his operation behavior.

[0031] When the AEB is started, the EPB system is started, and before the vehicle returns to normal, the vehicle exterior is monitored by the AEB, and only when the AEB determines that there is no risk at present, it is further determined whether the action of the hand operation is consistent with the content of the operation prompt; if the EPB is started, the AEB determines that the vehicle is still at risk of collision, the driver is not prompted to perform the corresponding hand operation, the EPB is not unlocked, no operation prompt is issued, and it is not necessary to determine whether the action of the hand operation is consistent with the prompt. After the EPB (electronic parking brake system) is started, the automatic emergency braking system AEB plays a crucial role before the EPB is released. AEB will continue to monitor various conditions outside the vehicle through radar, camera, laser sensor and other advanced detection devices. The vehicle returns to normal state indicated in the application is that all brake operations of the vehicle are released, the vehicle can start according to the normal operation, AEB and EPB are unlocked, and the gear is normal.

[0032] In this process, if the situation of the vehicle is extremely serious and in a state that cannot be recovered, for example, there is a large obstacle in front of the vehicle and the distance is extremely close, or there are multiple rapidly approaching objects around, resulting in a high risk of collision and difficult to avoid, it will be clearly displayed as a state that cannot be automatically released. This is to let the driver clearly understand the degree of danger the vehicle is facing, and to avoid incorrect operation. That is, only when the AEB determines that there is no risk outside the vehicle, the system will further determine whether the action of 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 a specific hand operation to release the EPB, the system will confirm whether the driver has correctly performed the operation. If the driver's hand operation is consistent with the content of the operation prompt, and the AEB also confirms that there is no risk, the EPB will be released. However, if the EPB is started, the AEB determines that the vehicle is still at risk of collision, the system will not determine whether the action of the hand operation is consistent with the content of the operation prompt. In this case, the EPB will remain in the locked state to ensure the safety of the vehicle. At the same time, the driver will not be prompted to perform any operation prompt, so as not to mislead the driver to make incorrect operation in dangerous situation. In summary, in the complex situation after the EPB is started, the AEB and the driver's hand operation cooperate with each other to ensure the safety of the vehicle. Only on the premise of ensuring the safety of the vehicle outside, the system will gradually guide the driver to perform the correct operation, release the EPB, and restore the normal driving of the vehicle. When the danger is not released, the system will remain highly vigilant to maximize the protection of the lives and safety of the driver and passengers.

[0033] When the EPB of the vehicle is activated, in addition to monitoring the situation outside the vehicle through AEB, the situation of the driver inside the vehicle is also monitored, so the driver's state is collected, and when the driver's state meets the preset driving conditions, the EPB is unlocked, otherwise the EPB is not unlocked.

[0034] When the EPB of the vehicle is activated, in order to ensure that the vehicle can resume normal driving in a safe manner, not only the situation outside the vehicle is continuously monitored through AEB, but also the state of the driver inside the vehicle is closely monitored. In this case, the system uses advanced sensors and monitoring technology to collect the driver's state 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, through the camera to monitor the driver's facial expression and line of sight direction to judge whether the attention is concentrated; through the biological sensor to detect the driver's heart rate, blood pressure and other physiological indicators to evaluate whether the physical condition is suitable for continuing driving. Only when the driver's state meets the preset driving conditions, the EPB is unlocked. Specifically, if the driver shows high attention, good physical condition and stable mental state, and can skillfully operate the vehicle control device, the system considers that the driver has the ability to continue driving, and thus the EPB is unlocked. This can ensure that the vehicle can be effectively controlled after resuming driving, reducing the risk of accidents. However, if the driver's state does not meet the preset driving conditions, for example, the driver is tired, distracted, ill or unstable, etc., the EPB will remain locked. In this case, the system may issue a warning message to remind the driver to pay attention to his own state and suggest him to take appropriate measures such as rest, seek medical help or wait for the state to improve before trying to resume driving. In summary, when the EPB of the vehicle is activated, the comprehensive monitoring of the situation outside the vehicle and the state of the driver inside the vehicle is an important link to ensure driving safety. Only when the driver's state meets the preset driving conditions, the EPB is unlocked, thereby providing strong guarantee for the safe driving of the vehicle.

[0035] After the AEB intervention causes the vehicle to brake, the EPB is activated. When the AEB determines that there is no risk outside the vehicle, and the system determines that the state of the driver meets the driving conditions, the system will prompt the driver to perform some operations to unlock the EPB and restore the vehicle to normal state. First, the driver randomly steps on a pedal, which can be the brake pedal or the accelerator pedal. After the system collects the stepped-on pedal condition, the driver is prompted to perform a corresponding hand operation. The driver performs the hand operation according to the content of the operation prompt, and the system collects the driver's operation condition to determine whether the hand operation action is consistent with the content of the operation prompt. If consistent, the EPB is unlocked; if the hand operation action is not consistent with the content of the operation prompt, the EPB remains locked.

[0036] In an emergency situation, the driver is in a state of panic, and may misoperate the pedal. 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. Since the brake pedal is usually located on the left side of the accelerator pedal, in order to accurately judge the operation of the driver and take corresponding measures in time, we can first detect which pedal the driver steps on. The hand operation can be any button operation on the driving platform, and in some embodiments, the hand operation is to pull the turn signal lever. The operation prompt is mapped to the pedal information, for example, if the brake pedal is stepped on, the corresponding hand operation prompt is to pull the turn signal lever downward, and if the accelerator pedal is stepped on, the corresponding hand operation prompt is to pull the turn signal lever upward.

[0037] When prompting the driver to pull the turn signal lever, the driver can be prompted to perform the corresponding operation through image and / or voice. For example, the corresponding lever information can be displayed on the instrument panel or center screen, and then the driver can be prompted by voice. This design not only verifies whether the driver follows the correct operation steps, but also evaluates the current mental state of the driver to ensure that he has the ability to continue driving. If the driver can make the correct hand action according to the operation prompt, that is, pull the turn signal lever downward when stepping on the brake pedal, or pull the turn signal lever upward when stepping on the accelerator pedal, the EPB will be unlocked. Then, the system will continue to monitor the use of the accelerator pedal and the change of the gear to ensure that the vehicle can be safely restarted. The driver first steps on the pedal with his foot, and the system displays the corresponding hand operation action on the instrument or center according to the pedal information stepped on. If the hand operation action of the driver is inconsistent with the hand operation action of the operation prompt, for example, if the brake pedal is stepped on and the hand operation is to pull the turn signal lever upward, the foot and hand operation are inconsistent, and the vehicle cannot be restored to the normal operating state; or the accelerator pedal is stepped on, and the hand operation is to pull the turn signal lever downward, the foot and hand operation are inconsistent, and the vehicle cannot be restored to the normal operating state.

[0038] When the hand action, foot action and operation prompt information are consistent, the EPB is unlocked. Then continue to collect the first information, which is at least one of the accelerator pedal information and the gear shifting 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 action is inconsistent with the operation prompt, the electronic parking brake system remains locked.

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

[0040] However, if the system collects that the accelerator pedal has no acceleration action and no gear shifting, it may mean that the driver has no intention to continue driving temporarily 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 moving accidentally in uncertain conditions, thereby reducing potential risks. After the EPB is unlocked, the driver needs to perform acceleration or gear shifting operation to ensure that the vehicle fully returns to the normal driving state. If the driver does not perform acceleration or gear shifting operation, 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 various situations. At the same time, it also reminds the driver to make correct operation in time after the vehicle is unlocked according to the actual situation, in order to ensure driving safety.

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

[0042] Specifically, it refers to collecting the first information within a predetermined time. The first information can be acceleration action of the accelerator pedal or gear shifting action or both acceleration action and gear shifting action. 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 also return to the normal operation state. In this case, all 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 determines that the driver may not have the intention to continue driving temporarily or there are other uncertain situations. In order to prevent the vehicle from moving unexpectedly in such uncertain state, thereby reducing potential risks, the system will automatically lock the gear. In this way, the vehicle can be effectively guaranteed to be stable and safe in various situations, and accidents caused by uncertain operation or negligence of the driver can be avoided.

[0044] That is, after the EPB is unlocked, within the specified preset time, as long as one of the accelerator pedal or the gear changes, it indicates that the driver has a clear intention to continue driving, the vehicle gear is not locked, the AEB, EPB and gear of the vehicle are normal, and the vehicle can drive the vehicle according to the normal operation. When neither the accelerator pedal nor the gear changes, the system determines that the driver may not have the intention to continue driving temporarily or there are other uncertain situations, and after the predetermined time is exceeded, the gear is automatically locked.

[0045] In some embodiments, when the pedal is stepped on, if it is a false step, the stepped-on pedal depth may not be enough, so when collecting the stepped-on pedal information, the depth information of the stepped-on pedal needs to be collected. When the depth of the stepped-on pedal is greater than or equal to the preset depth, it is determined to be a valid pedal step, and then the image and / or sound are used to prompt the driver to operate. When the depth of the stepped-on pedal is less than the preset depth, it is determined to be an invalid pedal step, and the driver is not prompted to operate.

[0046] During the process of the vehicle from the AEB starting to the normal state, the pedal information is collected once or twice. The first time, the stepped-on pedal is the brake pedal or the accelerator pedal, and the second time, the stepped-on pedal is the accelerator pedal. During the two collection processes, the depth of the two stepped-on pedals needs to be greater than or equal to the preset depth. The purpose of such design is to prevent the occurrence of false steps. If the depth of the stepped-on pedal is not enough, it may lead to the system misjudging the operation intention of the driver, thereby causing unnecessary risks. By strictly requiring the depth of the stepped-on pedal, the accuracy of the system judgment can be improved, and the vehicle can be ensured to be safe and stable in various situations. The depth information of the stepped-on pedal can be detected by a force sensor or a position sensor.

[0047] If the driver determines that the vehicle is within the control range after the AEB is activated, the driver is considered to have driving conditions, and the AEB can be suspended by pressing the release button, so that the vehicle returns to normal state, and then the accelerator pedal is pressed, and the EPB is released. After pressing the release button, the driver can be reminded by 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 adversely affect the vehicle's running when it returns to normal operation. At the same time, when the driver steps on the accelerator pedal, the EPB will release the brake state, so that the vehicle can smoothly accelerate forward. Through this release button, the driver can choose to suspend the AEB intervention. This function is very useful in certain situations, for example, in some special road conditions, such as reversing on narrow roads or driving in 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 function of AEB, so as to more freely control the vehicle. The release button can be a phone hang-up button set on the steering wheel. When the phone hang-up button is pressed for a long time, it is set to suspend the operation of the vehicle driver behavior recognition system in this time period, suspend the intervention of AEB, and cancel the EPB lock by stepping on the accelerator / switch.

[0048] In another aspect, the present application provides a recovery system for AEB, comprising:

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

[0050] The judgment module judges whether the action of the hand operation is consistent with the content of the operation prompt, and if the action of 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, the first information being at least one of the accelerator pedal information and the gear shifting information;

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

[0052] The judgment module is used to judge the type of the stepped pedal and whether the stepping action of the pedal is valid, and is also used to judge whether the hand operation is consistent with the content of the operation prompt, etc. For the validity judgment of the pedal stepping action, the judgment module will judge according to a series of preset standards and parameters. For example, it will determine whether the depth of the pedal stepping is greater than or equal to the preset depth by analyzing the data from the distance sensor and other devices. 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 accurate judgment can ensure that the vehicle system accurately identifies the driver's operation intention, avoiding unnecessary system response or potential risks caused by misjudgment.

[0053] In terms of judging whether the hand operation is consistent with the operation prompt action, the judgment module compares the driver's actual hand operation with the operation prompt action given by the system. When the driver performs hand operation according to the operation prompt, the judgment module will confirm whether they are completely consistent. If they are consistent, the system can continue the subsequent operation process, such as unlocking the EPB, etc. If the hand operation is not consistent with the operation prompt action, the judgment module will prevent the system from proceeding to the next step to ensure that the vehicle operates in a safe state.

[0054] The camera plays an important role in the vehicle system, which can collect the state of the driver. In addition to judging whether the pedal stepping action is valid and whether the hand operation is consistent with the operation prompt action, the judgment module is also responsible for judging whether the driver's state meets the requirements of driving. The camera can capture the driver's facial expressions, eye direction, head posture, etc. to assess the driver's attention level, fatigue level and alertness. For example, when the camera detects signs such as frequent blinking, yawning or head drooping of the driver, 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 mobile phone or talking with passengers, etc. The judgment module will judge whether the driver's state meets the requirements of safe driving according to the information collected by the camera, combined with the preset standards and algorithms. If the judgment module determines that the driver's state does not meet the requirements, for example, 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 state. In some cases, the system may even take further measures, such as limiting the speed of the vehicle or starting AEB, to ensure the safety of driving.

[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 constantly receives information from various sensors such as radar, cameras, laser sensors, etc. These sensors monitor real-time road conditions in front of the vehicle, distance from obstacles, relative speed, and other key data. The ECU accurately determines when to start, adjust or shut down AEB based on these data and pre-set algorithms and parameters.

[0056] When the sensors detect potential collision risks in front of the vehicle, the ECU will quickly analyze and process this information. If the result shows a high collision risk, the ECU will immediately issue an instruction to start the AEB system. At this time, AEB will automatically apply the brakes to reduce the vehicle speed by adjusting the braking force, or even completely stop the vehicle when necessary, to avoid collisions.

[0057] During the operation of the AEB system, the ECU will continuously monitor various state parameters of the vehicle. For example, it will closely monitor changes in vehicle speed, distance from the front obstacle, and driver 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 braking force of AEB accordingly, or release the brake when appropriate, to ensure that the vehicle is both safe and smooth.

[0058] On the other hand, the present application provides a device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-mentioned method for AEB recovery after starting.

[0059] On the other hand, the present application provides a computer-readable storage medium having a computer program, characterized in that the computer program is executed by a processor to implement the steps of the above-mentioned method for AEB recovery after starting.

[0060] On the other hand, the present application provides a vehicle equipped with AEB and EPB, characterized in that when the AEB of the vehicle is started, the vehicle uses the above-mentioned method for AEB recovery after starting.

[0061] It should be noted that the computer-readable medium shown in the present application can 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, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, 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 application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0062] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment, or a portion of code that contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders than that shown in the figures. For example, two blocks that are shown in succession can actually be executed substantially concurrently, or they can sometimes be executed in reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams or flowcharts, and combinations of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs specified functions or operations, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0063] The units described in the embodiments of the present application can be implemented by software or by hardware, and the described units can also be arranged in a processor. In some cases, the names of the units do not constitute a limitation on the units themselves. The described units or modules can also be arranged in a processor, for example, a processor can be described as including a data acquisition module, a first processing module, a second processing module, and a result generation module. In some cases, the names of the units or modules do not constitute a limitation on the units or modules themselves.

[0064] The above description is merely preferred embodiments of the present application and a description of the principles of the technology used. Those skilled in the art should understand that the scope of the application described in the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features disclosed in the present application (but not limited to) having similar functions to form technical solutions.

Claims

1. A method of recovery after activation of an automatic emergency braking system, characterized in that, The method comprises the following steps: Collecting pedal information, and if the pedal information is collected, an operation prompt is sent to the driver, the operation prompt being used to prompt the driver to perform a hand operation corresponding to the pedal information; The pedal is a brake pedal or an accelerator pedal; Determining whether the action of the hand operation is consistent with the content of the operation prompt, and if the action of the hand operation is consistent with the content of the operation prompt, the electronic parking brake system is unlocked, and first information is continuously collected, the first information being at least one of accelerator pedal information and gear shifting information; 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. The operation prompt is sent to the driver through images and / or sounds, and before the operation prompt is sent to the driver through images and / or sounds, it is further determined by the automatic emergency braking system whether there is a risk at present, if the automatic emergency braking system determines that there is no risk, the operation prompt is sent to the driver through images and / or sounds, and if the automatic emergency braking system determines that there is a risk, the operation prompt is not sent to the driver, and the electronic parking brake system is kept locked.

2. The recovery method according to claim 1, characterized by, Before the electronic parking brake system is unlocked, the state of the driver is collected, and when the state of the driver meets a pre-set driving condition, the electronic parking brake system is unlocked, otherwise, the electronic parking brake system is kept locked.

3. The recovery method according to claim 1, characterized by, If the first information is collected, the gear is not locked, which comprises the following steps:

4. The recovery method of claim 1, wherein If the first information is collected within a predetermined time after the operation prompt is sent to the driver, the vehicle returns to normal operation, and if the first information is not collected within the predetermined time after the operation prompt is sent to the driver, the gear is locked. The pedal information comprises the depth of the pedal depression, and before the operation prompt is sent to the driver, the following steps are further included:

5. The recovery method of claim 1, wherein The depth of the pedal depression is compared with a pre-set depth, if the depth of the pedal depression is greater than or equal to the pre-set depth, the operation prompt is sent to the driver, and if the depth of the pedal depression is less than the pre-set depth, the operation prompt is not sent to the driver. The automatic emergency braking system is suspended, the vehicle returns to a normal state, and then the accelerator pedal is depressed, and the electronic parking brake system is released.

6. The recovery method according to any one of claims 1 to 5, characterized in that, The method comprises the following steps:

7. A system for recovery after activation of an automatic emergency braking system, characterized in that A collecting module is used to collect pedal information, and if the pedal information is collected, an operation prompt is sent to the driver, the operation prompt being used to prompt the driver to perform a hand operation corresponding to the pedal information; The pedal is a brake pedal or an accelerator pedal; A determining module is used to determine whether the action of the hand operation is consistent with the content of the operation prompt, and if the action of the hand operation is consistent with the content of the operation prompt, the electronic parking brake system is unlocked, and first information is continuously collected, the first information being at least one of accelerator pedal information and gear shifting information; 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. ​ 8. An apparatus, comprising: Computer program product comprising a memory, a processor and a computer program stored in said memory and loadable in said processor, said computer program implementing the steps of the method for resuming after activation of an automatic emergency braking system according to any one of claims 1 to 6 when executed by the processor.

9. A computer readable storage medium having a computer program, characterized in that Computer program product implementing the steps of the method for resuming after activation of an automatic emergency braking system according to any one of claims 1 to 6 when executed by the processor.

10. A vehicle on which an automatic emergency braking system and an electronic parking brake system are installed, characterized by Vehicle implementing the method for resuming after activation of an automatic emergency braking system according to any one of claims 1 to 6 when the vehicle resumes after activation of an automatic emergency braking system.

Images