Activation target selection method and device for automatic emergency braking and storage medium

Abstract

The invention relates to an activation target selection method and device for automatic emergency braking and a storage medium, and the method comprises the steps: carrying out dynamic and static classification processing on a target object sensed by a vehicle, and obtaining a moving target parameter of a moving target if the moving target is found in the dynamic and static classification processing; wherein the moving target parameters comprise at least one of the lane where the moving target is located, the moving speed and the moving direction. The method comprises the following steps: carrying out dynamic and static classification processing on target objects except a vehicle, determining a first moving target which coincides with a to-be-driven track of the vehicle from found moving targets, and determining a first static target which coincides with the to-be-driven track of the vehicle from found static targets; and then the target with the minimum collision time is selected from the first moving target and the first static target as the activation target for automatic emergency braking, so that the target which really needs to be triggered by the AEB is screened out while false triggering is avoided, and the accuracy of selection of the activation target is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle assistance technology, and in particular to a method, device and storage medium for selecting an activation target for automatic emergency braking. Background Art

[0002] At present, with the development of my country's economy, cars have become the mainstream means of transportation for every family. With the increase in the total amount of family car maintenance in the country, more and more vehicles are driving on the road. When a driver is driving a vehicle equipped with automatic emergency braking (hereinafter referred to as AEB) function on the road, if the driver is distracted driving, looking down at the phone or looking at the navigation, etc., which causes the AEB of the vehicle to be activated, among multiple targets, which target is the most dangerous should be selected as the braking target, and at the same time, it is necessary to ensure that the AEB function cannot be triggered by mistake when the driver is driving normally, because once AEB false braking occurs, especially in complex traffic flows such as crowded and heavy urban roads, it is likely to cause the rear vehicle to fail to brake in time and cause a rear-end collision. For example, when the driver feels that the moving vehicle in front of the vehicle is driving too slowly and wants to overtake, the driver will step on the accelerator. At this time, if the AEB system cannot correctly identify the driver's intention to overtake, it is likely to select the vehicle in front as the target for triggering the AEB function, and false braking will occur, which will cause a very bad driving experience for the driver, and it is also possible that the rear vehicle will fail to brake in time and cause a rear-end collision, endangering the driver's personal safety. Therefore, how to select the activation target when the AEB function needs to be activated in an emergency situation has become an urgent problem to be solved. Summary of the invention

[0003] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides an activation target selection method, device and storage medium for automatic emergency braking.

[0004] In a first aspect, the present application provides a method for selecting an activation target for automatic emergency braking, the method comprising:

[0005] Performing static and dynamic classification processing on the target objects perceived by the vehicle;

[0006] If a moving target is found in the static / dynamic classification process, a moving target parameter of the moving target is obtained; wherein the moving target parameter includes at least one of the lane, moving speed, and moving direction of the moving target;

[0007] Determining, according to the moving target parameters of the moving targets, a first moving target among the moving targets that overlaps with the to-be-traveled trajectory of the own vehicle;

[0008] If a stationary target is found in the static / dynamic classification process, a first stationary target that overlaps with the to-be-traveled trajectory of the own vehicle is determined from the stationary targets;

[0009] An activation target with the shortest collision time is selected from the first moving target and / or the first stationary target, so that the own vehicle activates automatic emergency braking according to the activation target.

[0010] Optionally, determining a first stationary target that overlaps with the to-be-traveled trajectory of the own vehicle from the stationary targets includes:

[0011] Repeat the following steps until there is only one identical stationary target in the intersection of the first target group and the second target group: obtain a first target group that overlaps with the to-be-traveled trajectory of the own vehicle in a first time frame; wherein the first target group includes at least one stationary target; obtain a second target group that overlaps with the to-be-traveled trajectory of the own vehicle in a second time frame after the first time frame; wherein the second target group includes at least one stationary target;

[0012] An intersection of the first target group and the second target group is taken as the first stationary target.

[0013] Optionally, the moving target parameters include at least a lane in which the moving target is located and a moving direction of the moving target; and determining, according to the moving target parameters of the moving target, a first moving target among the moving targets that overlaps with the to-be-traveled trajectory of the own vehicle, comprises:

[0014] Get the current lane of the vehicle;

[0015] Based on the current lane and the lane where the moving target is located, the moving target is divided into an in-lane target and an out-lane target;

[0016] Dividing the out-of-lane targets into out-of-lane traversing targets and out-of-lane longitudinal moving targets according to the moving direction;

[0017] Dividing the targets in the lane into targets crossing the lane and targets moving longitudinally in the lane according to the moving direction;

[0018] Determine the first moving target among the outside lane crossing target, the outside lane longitudinal moving target, the inside lane crossing target, and the inside lane longitudinal moving target, which has an overlap with the to-be-traveled trajectory of the own vehicle.

[0019] Optionally, the moving target parameter also includes a moving speed of the moving target; determining the first moving target among the outside lane crossing target, the outside lane longitudinal moving target, the inside lane crossing target, and the inside lane longitudinal moving target that overlaps with the to-be-traveled trajectory of the own vehicle includes:

[0020] Obtaining the own vehicle speed and steering angle of the own vehicle;

[0021] Determine a second moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the target crossing outside the lane, the moving direction of the target crossing outside the lane, the own vehicle speed, and the steering angle;

[0022] Determine a third moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the longitudinal moving target outside the lane, the moving direction of the longitudinal moving target outside the lane, the own vehicle speed, and the steering angle;

[0023] Determining a fourth moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the target crossing the lane, the moving direction of the target crossing the lane, the own vehicle speed, and the steering angle;

[0024] Determining a fifth moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the longitudinal moving target in the lane, the moving direction of the longitudinal moving target in the lane, the own vehicle speed, and the steering angle;

[0025] The second moving target, the third moving target, the fourth moving target and the fifth moving target are taken as the first moving target.

[0026] Optionally, determining a second moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the target crossing outside the lane, the moving direction of the target crossing outside the lane, the own vehicle speed, and the steering angle includes:

[0027] If the moving direction of the outside-lane crossing target indicates that the outside-lane crossing target is a target that crosses outside the lane and turns straight, then the outside-lane crossing target is discarded;

[0028] If the moving direction of the outside-lane crossing target indicates that the outside-lane crossing target is not a target that crosses outside the lane and turns straight, then judging whether the outside-lane crossing target and the own vehicle have overlapping trajectories according to the moving speed of the outside-lane crossing target, the moving direction of the outside-lane crossing target, the own vehicle speed and the steering angle;

[0029] If the out-of-lane crossing target has no trajectory overlap with the own vehicle, the out-of-lane crossing target is discarded;

[0030] If the trajectory of the target crossing outside the lane overlaps with that of the own vehicle, the target crossing outside the lane is taken as the second moving target.

[0031] Optionally, determining a third moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the longitudinal moving target outside the lane, the moving direction of the longitudinal moving target outside the lane, the own vehicle speed, and the steering angle includes:

[0032] If the moving direction of the longitudinal moving target outside the lane indicates that the longitudinal moving target outside the lane has no lateral movement trend, then the longitudinal moving target outside the lane is discarded;

[0033] If the moving direction of the longitudinal moving target outside the lane indicates that the longitudinal moving target outside the lane has a lateral movement trend, then judging whether the trajectory of the longitudinal moving target outside the lane overlaps with that of the own vehicle according to the moving speed of the longitudinal moving target outside the lane, the moving direction of the longitudinal moving target outside the lane, the own vehicle speed and the steering angle;

[0034] If the longitudinal moving target outside the lane has no trajectory overlap with the own vehicle, the longitudinal moving target outside the lane is discarded;

[0035] If the longitudinal moving target outside the lane has a trajectory overlap with the own vehicle, the longitudinal moving target outside the lane is used as the third moving target.

[0036] Optionally, determining a fourth moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the target crossing the lane, the moving direction of the target crossing the lane, the own vehicle speed, and the steering angle includes:

[0037] Determining whether the trajectories of the target crossing the lane and the own vehicle overlap according to the moving speed of the target crossing the lane, the moving direction of the target crossing the lane, the own vehicle speed, and the steering angle;

[0038] If the in-lane crossing target has no trajectory overlap with the own vehicle, the in-lane crossing target is discarded;

[0039] If the in-lane crossing target has a trajectory overlap with the own vehicle, the in-lane crossing target is used as the fourth moving target.

[0040] Optionally, determining a fifth moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the longitudinal moving target in the lane, the moving direction of the longitudinal moving target in the lane, the own vehicle speed, and the steering angle includes:

[0041] If the moving speed of the longitudinal moving target in the lane is greater than or equal to the own vehicle speed, then the longitudinal moving target in the lane is discarded;

[0042] If the moving speed of the longitudinal moving target in the lane is less than the own vehicle speed, judging whether the trajectories of the longitudinal moving target in the lane overlap with the own vehicle according to the moving speed of the longitudinal moving target in the lane, the moving direction of the longitudinal moving target in the lane, the own vehicle speed and the steering angle;

[0043] If the longitudinal moving target in the lane has no trajectory overlap with the own vehicle, the longitudinal moving target in the lane is discarded;

[0044] If the longitudinal moving target in the lane has a trajectory overlap with the own vehicle, the longitudinal moving target in the lane is used as the fifth moving target.

[0045] Optionally, selecting an activation target with a minimum collision time from the first moving target and / or the first stationary target so that the own vehicle activates automatic emergency braking according to the activation target includes:

[0046] Obtaining a first collision time between the first moving target and the own vehicle;

[0047] Acquire a second collision time between the first stationary target and the own vehicle;

[0048] Determining a target collision time with a minimum time from the second collision time and the first collision time;

[0049] Using the target corresponding to the target collision time as the activated target;

[0050] The automatic emergency braking of the own vehicle is activated according to the activation target.

[0051] In a second aspect, the present application provides an activation target selection device for automatic emergency braking, the device comprising:

[0052] A motion and static classification module is used to perform motion and static classification processing on the target object perceived by the vehicle itself;

[0053] an acquisition module, configured to acquire a moving target parameter of the moving target if a moving target is found in the moving and static classification process; wherein the moving target parameter includes at least one of a lane, a moving speed, and a moving direction of the moving target;

[0054] A first determination module, configured to determine, according to the moving target parameters of the moving targets, a first moving target among the moving targets that overlaps with the to-be-traveled trajectory of the own vehicle;

[0055] A second determination module is used to determine, if a stationary target is found in the static and dynamic classification process, a first stationary target that overlaps with the to-be-traveled trajectory of the own vehicle from among the stationary targets;

[0056] A target selection module is used to select an activation target with the shortest collision time from the first moving target and / or the first stationary target, so that the own vehicle activates automatic emergency braking according to the activation target.

[0057] In a third aspect, the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0058] Memory, used to store computer programs;

[0059] The processor is used to implement the steps of the automatic emergency braking activation target selection method described in any one of the embodiments of the first aspect when executing the program stored in the memory.

[0060] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for selecting an activation target for automatic emergency braking as described in any one of the embodiments of the first aspect.

[0061] Beneficial effects of this application:

[0062] The method provided by the embodiment of the present application performs dynamic and static classification processing on the target object perceived by the own vehicle; if a moving target is found in the dynamic and static classification processing, the moving target parameters of the moving target are obtained; wherein the moving target parameters include at least one of the lane, moving speed and moving direction of the moving target; according to the moving target parameters of the moving target, the first moving target among the moving targets that overlaps with the trajectory to be driven by the own vehicle is determined; if a stationary target is found in the dynamic and static classification processing, the first stationary target that overlaps with the trajectory to be driven by the own vehicle is determined from the stationary targets; and the activation target with the smallest collision time is selected from the first moving target and / or the first stationary target, so that the own vehicle activates automatic emergency braking according to the activation target. The method classifies target objects other than the own vehicle into dynamic and static categories, determines a first moving target that overlaps with the trajectory to be driven by the own vehicle from among the found moving targets, determines a first stationary target that overlaps with the trajectory to be driven by the own vehicle from among the found stationary targets, and then selects a target with a minimum collision time from the first moving target and the first stationary target as an activation target for automatic emergency braking, thereby screening out targets that really need to be triggered by AEB while avoiding false triggering, thereby improving the accuracy of activation target selection. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0064] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0065] Figure 1 A system architecture diagram of an activation target selection method for automatic emergency braking provided by one embodiment of the present application;

[0066] Figure 2 A flowchart of a method for selecting an activation target for automatic emergency braking provided by one embodiment of the present application;

[0067] Figure 3 A flowchart of a method for selecting an activation target for automatic emergency braking provided in another embodiment of the present application;

[0068] Figure 4 A schematic diagram of the structure of an activation target selection device for automatic emergency braking provided by one embodiment of the present application;

[0069] Figure 5 A schematic diagram of the structure of an electronic device provided in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0070] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, 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 application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0071] The first embodiment of the present application provides a method for selecting an activation target for automatic emergency braking. The method can be applied to Figure 1 The system architecture shown may include a vehicle 101 , or may include a vehicle 101 and a server 102 . When the system architecture includes the vehicle 101 and the server 102 , the vehicle 101 and the server 102 establish a communication connection.

[0072] The method can be applied to vehicle 101 or server 102 in the system architecture, wherein the type of vehicle 101 is not limited, for example, it can be a fuel vehicle, a pure electric vehicle, a hybrid vehicle or a fuel cell vehicle, etc. The vehicle 101 to which the method is applied can be called a target vehicle, and the server 102 can be a local server, a cloud server, or a server cluster.

[0073] Next, based on the system architecture, the activation target selection method of the automatic emergency braking is described in detail, such as Figure 2 , the activation target selection method of the automatic emergency braking includes:

[0074] Step 201 , performing dynamic and static classification processing on the target object perceived by the own vehicle.

[0075] The vehicle itself can sense the target objects outside the vehicle through devices such as laser radar, millimeter wave radar and visual cameras. The target objects can be surrounding vehicles, pedestrians, guardrails, curbs, water barriers, telephone poles, etc., without restriction. By comparing the same target object in different time frames, the target object can be classified and processed for dynamic and static, and moving targets and stationary targets can be found. Of course, only moving targets or only stationary targets can be found without restriction, based on the types and quantities found during the dynamic and static classification processing. For example, vehicles, pedestrians, electric bicycles, bicycles, etc. on the road are moving targets found in the dynamic and static classification processing, and curbs, guardrails, traffic lights, water barriers, telephone poles, etc. are stationary targets found in the dynamic and static classification processing.

[0076] Step 202: If a moving target is found in the dynamic and static classification process, the moving target parameters of the moving target are obtained; wherein the moving target parameters include at least one of the lane, moving speed and moving direction of the moving target.

[0077] For moving targets, such as cars, electric bicycles, pedestrians, etc., the moving target parameters of the moving target can be obtained. The moving target parameters can be one or more parameters such as moving speed, moving direction, and the lane in which the moving target is located. Of course, it can also include the lateral width, longitudinal width and height of the moving target without limitation. For a vehicle, the moving direction can be the target heading angle of the vehicle.

[0078] Step 203: determining, according to the moving target parameters of the moving targets, a first moving target among the moving targets that overlaps with the to-be-traveled trajectory of the own vehicle.

[0079] In one embodiment, the moving target parameters include at least the lane where the moving target is located and the moving direction of the moving target; determining the first moving target among the moving targets that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving target parameters of the moving targets includes:

[0080] Get the current lane of the vehicle;

[0081] Based on the current lane and the lane where the moving target is located, the moving target is divided into in-lane targets and out-lane targets;

[0082] The targets outside the lane are divided into targets crossing outside the lane and targets moving longitudinally outside the lane according to their moving directions;

[0083] The targets in the lane are divided into targets crossing the lane and targets moving longitudinally in the lane according to their moving directions;

[0084] Determine the first moving target among the outside lane crossing target, the outside lane longitudinal moving target, the inside lane crossing target, and the inside lane longitudinal moving target that overlaps with the to-be-traveled trajectory of the own vehicle.

[0085] In this embodiment, devices such as laser radar, millimeter wave radar and visual camera can collect the lanes where each moving target is located, as well as the current lane where the own vehicle is located, so that the moving target can be divided into in-lane targets and out-lane targets in combination with the own lane and the lane where the moving target is located. Further, according to the moving direction of the moving target, the out-lane targets can be divided into out-lane crossing targets and out-lane longitudinal moving targets, and the in-lane targets can be divided into in-lane crossing targets and in-lane longitudinal moving targets, so that the first moving target that overlaps with the to-be-traveled trajectory of the own vehicle can be determined from the out-lane crossing targets, out-lane longitudinal moving targets, in-lane crossing targets, and in-lane longitudinal moving targets. The first moving target can be one or more, without limitation.

[0086] The moving target parameters may also include the moving speed of the moving target.

[0087] For a target crossing outside the lane, a first target among the target crossing outside the lane, the target moving longitudinally outside the lane, the target crossing inside the lane, and the target moving longitudinally inside the lane that overlaps with the trajectory to be driven by the own vehicle is determined, including: obtaining the own vehicle speed and steering angle of the own vehicle; determining a second target crossing outside the lane that overlaps with the trajectory to be driven by the own vehicle according to the moving speed of the target crossing outside the lane, the moving direction of the target crossing outside the lane, the own vehicle speed and the steering angle; determining a second target crossing outside the lane that overlaps with the trajectory to be driven by the own vehicle according to the moving speed of the target moving longitudinally outside the lane, the moving direction of the target moving longitudinally outside the lane, the own vehicle speed and the steering angle Angle, determine the third moving target that overlaps with the trajectory to be driven by the own vehicle; determine the fourth moving target that overlaps with the trajectory to be driven by the own vehicle according to the moving speed of the target crossing the lane, the moving direction of the target crossing the lane, the own vehicle speed and the steering angle; determine the fifth moving target that overlaps with the trajectory to be driven by the own vehicle according to the moving speed of the longitudinal moving target in the lane, the moving direction of the longitudinal moving target in the lane, the own vehicle speed and the steering angle; the second moving target, the third moving target, the fourth moving target and the fifth moving target are taken as the first moving target.

[0088] In this embodiment, the vehicle speed and steering angle of the vehicle can be combined with the moving directions and speeds of different moving targets to determine the second moving target, the third moving target, the fourth moving target and the fifth moving target that overlap with the to-be-traveled trajectory of the vehicle, and the second moving target, the third moving target, the fourth moving target and the fifth moving target are used as the first moving target. By screening different targets at different levels, the activation targets that really need to activate AEB can be screened out from the target objects to avoid false triggering.

[0089] Next, in a specific embodiment, in combination Figure 3, the target selection algorithm for determining whether the target crossing outside the lane, the target moving longitudinally outside the lane, the target crossing inside the lane, and the target moving longitudinally inside the lane coincide with the trajectory to be driven by the own vehicle is described in detail, Figure 3 Schematic diagram of the process for selecting a target for automatic emergency braking activation.

[0090] For a target crossing outside the lane, a second moving target that overlaps with the trajectory to be driven by the own vehicle is determined based on the moving speed of the target crossing outside the lane, the moving direction of the target crossing outside the lane, the own vehicle speed and the steering angle, including: if the moving direction of the target crossing outside the lane indicates that the target crossing outside the lane is a target crossing outside the lane and turning straight, then the target crossing outside the lane is discarded; if the moving direction of the target crossing outside the lane indicates that the target crossing outside the lane is not a target crossing outside the lane and turning straight, then whether the trajectory of the target crossing outside the lane overlaps with that of the own vehicle is determined based on the moving speed of the target crossing outside the lane, the moving direction of the target crossing outside the lane, the own vehicle speed and the steering angle; if the trajectory of the target crossing outside the lane does not overlap with that of the own vehicle, then the target crossing outside the lane is discarded; if the trajectory of the target crossing outside the lane overlaps with that of the own vehicle, then the target crossing outside the lane is used as the second moving target.

[0091] In this embodiment, all targets outside the vehicle sensed by devices such as lidar, millimeter-wave radar and visual camera are first divided into moving targets and stationary targets. The moving targets are further divided into targets inside the lane and targets outside the lane. Targets outside the lane are divided into targets crossing the lane outside and targets moving longitudinally outside the lane. Targets inside the lane are divided into targets crossing the lane inside and targets moving longitudinally inside the lane. Stationary targets are divided into targets outside the lane and targets inside the lane.

[0092] For the target crossing outside the lane, the target heading angle is judged in the visual image domain to determine whether the target crossing outside the lane is a target that changes from crossing to going straight. If it is a target that changes from crossing to going straight, there is no risk of collision with the ego vehicle (i.e., the own vehicle), and the target crossing outside the lane is discarded; if it is not a target that changes from crossing to going straight, but is just a simple crossing target, then it is calculated based on the own vehicle speed and the moving speed of the target crossing outside the lane whether there will be overlap in the trajectory at some point in the future. If there is no overlap, the target crossing outside the lane is also discarded; if the target crossing outside the lane has an overlap in trajectory with the ego vehicle in the future, this target is retained as the second moving target and passed to the subsequent process for further screening.

[0093] For the longitudinal moving target outside the lane, a third moving target that overlaps with the trajectory to be driven by the own vehicle is determined according to the moving speed of the longitudinal moving target outside the lane, the moving direction of the longitudinal moving target outside the lane, the own vehicle speed and the steering angle, including: if the moving direction of the longitudinal moving target outside the lane indicates that the longitudinal moving target outside the lane has no lateral movement trend, then the longitudinal moving target outside the lane is discarded; if the moving direction of the longitudinal moving target outside the lane indicates that the longitudinal moving target outside the lane has a lateral movement trend, then according to the moving speed of the longitudinal moving target outside the lane, the moving direction of the longitudinal moving target outside the lane, the own vehicle speed and the steering angle, it is judged whether the trajectory of the longitudinal moving target outside the lane overlaps with that of the own vehicle; if the trajectory of the longitudinal moving target outside the lane does not overlap with that of the own vehicle, then the longitudinal moving target outside the lane is discarded; if the trajectory of the longitudinal moving target outside the lane overlaps with that of the own vehicle, then the longitudinal moving target outside the lane is used as the third moving target.

[0094] In this embodiment, for the longitudinal moving target outside the lane, it can be determined whether the longitudinal moving target outside the lane has a turning angle, such as whether the moving direction has a lateral movement trend. If there is no lateral movement trend, the longitudinal moving target outside the lane will not be in the same lane as the vehicle itself, and there is no collision risk. Then the longitudinal moving target outside the lane is discarded. If the longitudinal moving target outside the lane has a lateral movement trend, it is further determined whether the trajectory overlaps with the vehicle itself at a certain moment in the future at the turning angle and moving speed. If there is no overlap, that is, there is no collision risk, then the longitudinal moving target outside the lane is discarded. If there is overlap, the longitudinal moving target outside the lane is used as the third moving target. Of course, it is also possible to first determine whether the vehicle itself has a turning angle. If there is no turning angle, there is no collision risk between the vehicle itself and the target, and the target is discarded; if the vehicle itself has a turning angle, but there is no trajectory overlap with the target at the turning angle and vehicle speed, then there is no collision risk between the target and the vehicle itself, and the target is discarded; if the vehicle itself has a turning angle, but there is no trajectory overlap with the target at the turning angle and vehicle speed, then there is no collision risk between the target and the vehicle itself, and the target is discarded; if there is a collision risk between the vehicle itself and the target at the turning angle and vehicle speed, then the target is retained as the third moving target and passed to the subsequent process for further screening.

[0095] For a target crossing the lane, a fourth moving target that overlaps with the trajectory to be driven by the own vehicle is determined based on the moving speed of the target crossing the lane, the moving direction of the target crossing the lane, the own vehicle speed and the steering angle, including: judging whether the trajectory of the target crossing the lane overlaps with that of the own vehicle based on the moving speed of the target crossing the lane, the moving direction of the target crossing the lane, the own vehicle speed and the steering angle; if the trajectory of the target crossing the lane does not overlap with that of the own vehicle, discarding the target crossing the lane; if the trajectory of the target crossing the lane overlaps with that of the own vehicle, taking the target crossing the lane as the fourth moving target.

[0096] In this embodiment, for a target crossing the lane: if the target has crossed the motion trajectory of the vehicle at some point in the future at the current speed of the vehicle, there is no collision risk for the target and the target is discarded; if it overlaps with the trajectory of the vehicle at some point, it means that there is a collision risk with the vehicle and the target is retained as the fourth moving target and passed to the subsequent process for further screening.

[0097] For the longitudinal moving target in the lane, the fifth moving target that overlaps with the to-be-driven trajectory of the own vehicle is determined according to the moving speed of the longitudinal moving target in the lane, the moving direction of the longitudinal moving target in the lane, the own vehicle speed and the steering angle, including: if the moving speed of the longitudinal moving target in the lane is greater than or equal to the own vehicle speed, the longitudinal moving target in the lane is discarded; if the moving speed of the longitudinal moving target in the lane is less than the own vehicle speed, whether the trajectory of the longitudinal moving target in the lane overlaps with that of the own vehicle is judged according to the moving speed of the longitudinal moving target in the lane, the moving direction of the longitudinal moving target in the lane, the own vehicle speed and the steering angle; if the trajectory of the longitudinal moving target in the lane does not overlap with that of the own vehicle, the longitudinal moving target in the lane is discarded; if the trajectory of the longitudinal moving target in the lane overlaps with that of the own vehicle, the longitudinal moving target in the lane is used as the fifth moving target.

[0098] In this embodiment, for the longitudinal moving target in the lane, the longitudinal speed of the longitudinal moving target in the lane and the ego vehicle is first determined. If the moving speed of the longitudinal moving target in the lane is greater than or equal to the ego vehicle speed, there is no collision risk and the longitudinal moving target in the lane is discarded; if the moving speed of the longitudinal moving target in the lane is less than the ego vehicle speed, it is further determined whether the ego vehicle has a turning angle. If there is no turning angle, there is a collision risk between the ego vehicle and the longitudinal moving target in the lane, and the longitudinal moving target in the lane is retained as the fifth moving target; if the ego vehicle has a turning angle and there is no trajectory overlap with the target at the turning angle and the ego vehicle speed, there is no collision risk between the longitudinal moving target in the lane and the ego vehicle, and the longitudinal moving target in the lane is discarded; if there is a collision risk between the ego vehicle and the longitudinal moving target in the lane at the steering angle and the vehicle speed, the longitudinal moving target in the lane is retained as the fifth moving target and passed to the subsequent process for further screening.

[0099] It should be understood that in the above process of determining the second motion target, the third motion target, the fourth motion target and the fifth motion target, there may not be a qualified second motion target, the third motion target, the fourth motion target or the fifth motion target. For example, there are only qualified second motion targets and third motion targets. In this case, the first motion target can be determined based on the second motion target and the third motion target.

[0100] Step 204: If a stationary target is found in the static / dynamic classification process, a first stationary target that overlaps with the to-be-traveled trajectory of the own vehicle is determined from among the stationary targets.

[0101] In one embodiment, determining a first stationary target that overlaps with the trajectory to be driven of the own vehicle from the stationary targets includes: repeatedly performing the following steps until there is only one identical stationary target in the intersection of the first target group and the second target group: obtaining a first target group that overlaps with the trajectory to be driven of the own vehicle in a first time frame; wherein the first target group includes at least one stationary target; obtaining a second target group that overlaps with the trajectory to be driven of the own vehicle in a second time frame after the first time frame; wherein the second target group includes at least one stationary target. The intersection of the first target group and the second target group is taken as the first stationary target.

[0102] In this embodiment, the stationary targets can be divided into targets outside the lane and targets inside the lane, and a delayed judgment is performed on the targets outside the lane and the targets inside the lane, that is, in the first time frame, the first target group that overlaps with the to-be-traveled trajectory of the own vehicle among all the stationary targets is judged, and then, in the second time frame after the first time frame, the second target group that overlaps with the to-be-traveled trajectory of the own vehicle among all the stationary targets is judged, until the intersection of the first target group and the second target group has only one identical stationary target, and the stationary target is taken as the first stationary target. The first stationary target is on the driving trajectory of the own vehicle and is the shortest in longitudinal distance to the front bumper of the own vehicle.

[0103] Step 205 , selecting an activation target with a minimum collision time from the first moving target and / or the first stationary target, so that the host vehicle activates automatic emergency braking according to the activation target.

[0104] The method classifies target objects other than the own vehicle into dynamic and static categories, determines a first moving target that overlaps with the trajectory to be driven by the own vehicle from among the found moving targets, determines a first stationary target that overlaps with the trajectory to be driven by the own vehicle from among the found stationary targets, and then selects a target with a minimum collision time from the first moving target and the first stationary target as an activation target for automatic emergency braking, thereby screening out targets that really need to be triggered by AEB while avoiding false triggering, thereby improving the accuracy of activation target selection.

[0105] In one embodiment, an activation target with the shortest collision time is selected from the first moving target and / or the first stationary target so that the own vehicle activates automatic emergency braking according to the activation target, including: obtaining a first collision time between the first moving target and the own vehicle; obtaining a second collision time between the first stationary target and the own vehicle; determining a target collision time with the shortest time from the second collision time and the first collision time; taking the target corresponding to the target collision time as the activation target; and controlling the own vehicle to activate automatic emergency braking according to the activation target.

[0106] In this embodiment, the time to collision (TTC) is calculated for the previously screened first moving target (which may include the second moving target, the third moving target, the fourth moving target and the fifth moving target) and the first stationary target and the own vehicle, that is, the first collision time between the first moving target and the own vehicle, and the second collision time between the first stationary target and the own vehicle are calculated respectively. One first moving target corresponds to one first collision time. If there are multiple first moving targets, there are also multiple first collision times. The same applies to the second collision time. From all the collision times, a target with the smallest TTC is selected. This target is the most dangerous target screened out, that is, the activated target. The activated target is output to the AEB function module, and the AEB function module is used to control the own vehicle to activate the AEB function, thereby screening out the targets that AEB really needs to trigger while avoiding false triggering, thereby improving the accuracy of the activation target selection.

[0107] Based on the same technical concept, the second embodiment of the present application provides an activation target selection device for automatic emergency braking, such as Figure 4 , the device comprises:

[0108] A dynamic and static classification module 401 is used to perform dynamic and static classification processing on the target object perceived by the own vehicle;

[0109] An acquisition module 402 is used to acquire a moving target parameter of the moving target if a moving target is found in the moving and static classification process; wherein the moving target parameter includes at least one of a lane, a moving speed, and a moving direction of the moving target;

[0110] A first determination module 403 is used to determine, according to the moving target parameters of the moving targets, a first moving target among the moving targets that overlaps with the to-be-traveled trajectory of the own vehicle;

[0111] A second determination module 404 is configured to determine, if a stationary target is found in the static / dynamic classification process, a first stationary target that overlaps with the to-be-traveled trajectory of the own vehicle from among the stationary targets;

[0112] The target selection module 405 is used to select an activation target with the shortest collision time from the first moving target and / or the first stationary target, so that the host vehicle activates automatic emergency braking according to the activation target.

[0113] The device classifies target objects other than the own vehicle into dynamic and static categories, determines a first moving target that overlaps with the to-be-traveled trajectory of the own vehicle from among the found moving targets, determines a first stationary target that overlaps with the to-be-traveled trajectory of the own vehicle from among the found stationary targets, and then selects a target with a minimum collision time from the first moving target and the first stationary target as an activation target for automatic emergency braking, thereby avoiding false triggering and screening out targets that the AEB really needs to trigger, thereby improving the accuracy of activation target selection.

[0114] like Figure 5 As shown, the third embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0115] Memory 113, used for storing computer programs;

[0116] In one embodiment, the processor 111 is configured to implement the automatic emergency braking activation target selection method provided by any one of the aforementioned method embodiments when executing the program stored in the memory 113 .

[0117] The memory and processor in the above electronic device communicate through a communication bus and a communication interface. The communication bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus can be divided into an address bus, a data bus, a control bus, etc.

[0118] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0119] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0120] A fourth embodiment of the present application provides a computer-readable medium having a non-volatile program code executable by a processor.

[0121] Optionally, in an embodiment of the present application, a computer-readable medium is configured to store program code for a processor to execute the above method.

[0122] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0123] When the embodiments of the present application are specifically implemented, reference may be made to the above-mentioned embodiments, which have corresponding technical effects.

[0124] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions of the present application, or a combination thereof.

[0125] For software implementation, the technology of this article can be implemented by a unit that performs the functions of this article. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0126] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0127] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0128] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0129] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0130] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0131] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0132] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0133] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present application is within the protection scope of the present application.

Claims

1. A method for selecting an activation target for automatic emergency braking, characterized in that: The method comprises: Performing static and dynamic classification processing on the target objects perceived by the vehicle; If a moving target is found in the static / dynamic classification process, a moving target parameter of the moving target is obtained; wherein the moving target parameter includes at least one of the lane, moving speed, and moving direction of the moving target; Determining, according to the moving target parameters of the moving targets, a first moving target among the moving targets that overlaps with the to-be-traveled trajectory of the own vehicle; If a stationary target is found in the static / dynamic classification process, a first stationary target that overlaps with the to-be-traveled trajectory of the own vehicle is determined from the stationary targets; An activation target with the shortest collision time is selected from the first moving target and / or the first stationary target, so that the own vehicle activates automatic emergency braking according to the activation target.

2. The method according to claim 1, characterized in that Determining a first stationary target that overlaps with the to-be-traveled trajectory of the own vehicle from the stationary targets includes: Repeat the following steps until there is only one identical stationary target in the intersection of the first target group and the second target group: obtain a first target group that overlaps with the to-be-traveled trajectory of the own vehicle in a first time frame; wherein the first target group includes at least one stationary target; obtain a second target group that overlaps with the to-be-traveled trajectory of the own vehicle in a second time frame after the first time frame; wherein the second target group includes at least one stationary target; An intersection of the first target group and the second target group is taken as the first stationary target.

3. The method according to claim 1, characterized in that The moving target parameters include at least the lane where the moving target is located and the moving direction of the moving target; determining, according to the moving target parameters of the moving target, a first moving target among the moving targets that overlaps with the to-be-traveled trajectory of the own vehicle, comprising: Get the current lane of the vehicle; Based on the current lane and the lane where the moving target is located, the moving target is divided into an in-lane target and an out-lane target; Dividing the out-of-lane targets into out-of-lane traversing targets and out-of-lane longitudinal moving targets according to the moving direction; Dividing the targets in the lane into targets crossing the lane and targets moving longitudinally in the lane according to the moving direction; Determine the first moving target among the outside lane crossing target, the outside lane longitudinal moving target, the inside lane crossing target, and the inside lane longitudinal moving target, which has an overlap with the to-be-traveled trajectory of the own vehicle.

4. The method according to claim 3, characterized in that The moving target parameter also includes the moving speed of the moving target; determining the first moving target among the outside lane crossing target, the outside lane longitudinal moving target, the inside lane crossing target, and the inside lane longitudinal moving target that overlaps with the to-be-traveled trajectory of the own vehicle, including: Obtaining the own vehicle speed and steering angle of the own vehicle; Determine a second moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the target crossing outside the lane, the moving direction of the target crossing outside the lane, the own vehicle speed, and the steering angle; Determine a third moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the longitudinal moving target outside the lane, the moving direction of the longitudinal moving target outside the lane, the own vehicle speed, and the steering angle; Determining a fourth moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the target crossing the lane, the moving direction of the target crossing the lane, the own vehicle speed, and the steering angle; Determining a fifth moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the longitudinal moving target in the lane, the moving direction of the longitudinal moving target in the lane, the own vehicle speed, and the steering angle; The second moving target, the third moving target, the fourth moving target and the fifth moving target are taken as the first moving target.

5. The method according to claim 4, characterized in that Determining a second moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the target crossing outside the lane, the moving direction of the target crossing outside the lane, the own vehicle speed, and the steering angle, including: If the moving direction of the outside-lane crossing target indicates that the outside-lane crossing target is a target that crosses outside the lane and turns straight, then the outside-lane crossing target is discarded; If the moving direction of the outside-lane crossing target indicates that the outside-lane crossing target is not a target that crosses outside the lane and turns straight, then judging whether the outside-lane crossing target and the own vehicle have overlapping trajectories according to the moving speed of the outside-lane crossing target, the moving direction of the outside-lane crossing target, the own vehicle speed and the steering angle; If the out-of-lane crossing target has no trajectory overlap with the own vehicle, the out-of-lane crossing target is discarded; If the trajectory of the target crossing outside the lane overlaps with that of the own vehicle, the target crossing outside the lane is taken as the second moving target.

6. The method according to claim 4, characterized in that Determining a third moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the longitudinal moving target outside the lane, the moving direction of the longitudinal moving target outside the lane, the own vehicle speed, and the steering angle, including: If the moving direction of the longitudinal moving target outside the lane indicates that the longitudinal moving target outside the lane has no lateral movement trend, then the longitudinal moving target outside the lane is discarded; If the moving direction of the longitudinal moving target outside the lane indicates that the longitudinal moving target outside the lane has a lateral movement trend, then judging whether the trajectory of the longitudinal moving target outside the lane overlaps with that of the own vehicle according to the moving speed of the longitudinal moving target outside the lane, the moving direction of the longitudinal moving target outside the lane, the own vehicle speed and the steering angle; If the longitudinal moving target outside the lane has no trajectory overlap with the own vehicle, the longitudinal moving target outside the lane is discarded; If the longitudinal moving target outside the lane has a trajectory overlap with the own vehicle, the longitudinal moving target outside the lane is used as the third moving target.

7. The method according to claim 4, characterized in that Determining a fourth moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the target crossing the lane, the moving direction of the target crossing the lane, the own vehicle speed, and the steering angle, including: Determining whether the trajectories of the target crossing the lane and the own vehicle overlap according to the moving speed of the target crossing the lane, the moving direction of the target crossing the lane, the own vehicle speed, and the steering angle; If the in-lane crossing target has no trajectory overlap with the own vehicle, the in-lane crossing target is discarded; If the in-lane crossing target has a trajectory overlap with the own vehicle, the in-lane crossing target is used as the fourth moving target.

8. The method according to claim 4, characterized in that Determining a fifth moving target that overlaps with the to-be-traveled trajectory of the own vehicle according to the moving speed of the longitudinal moving target in the lane, the moving direction of the longitudinal moving target in the lane, the own vehicle speed, and the steering angle, including: If the moving speed of the longitudinal moving target in the lane is greater than or equal to the own vehicle speed, then the longitudinal moving target in the lane is discarded; If the moving speed of the longitudinal moving target in the lane is less than the own vehicle speed, judging whether the trajectories of the longitudinal moving target in the lane overlap with the own vehicle according to the moving speed of the longitudinal moving target in the lane, the moving direction of the longitudinal moving target in the lane, the own vehicle speed and the steering angle; If the longitudinal moving target in the lane has no trajectory overlap with the own vehicle, the longitudinal moving target in the lane is discarded; If the longitudinal moving target in the lane has a trajectory overlap with the own vehicle, the longitudinal moving target in the lane is used as the fifth moving target.

9. The method according to claim 1, characterized in that: Selecting an activation target with a minimum collision time from the first moving target and / or the first stationary target, so that the own vehicle activates automatic emergency braking according to the activation target, includes: Obtaining a first collision time between the first moving target and the own vehicle; Acquire a second collision time between the first stationary target and the own vehicle; Determining a target collision time with a minimum time from the second collision time and the first collision time; Using the target corresponding to the target collision time as the activated target; The automatic emergency braking of the own vehicle is activated according to the activation target.

10. An activation target selection device for automatic emergency braking, characterized in that: The device comprises: A motion and static classification module is used to perform motion and static classification processing on the target object perceived by the vehicle itself; an acquisition module, configured to acquire a moving target parameter of the moving target if a moving target is found in the moving and static classification process; wherein the moving target parameter includes at least one of a lane, a moving speed, and a moving direction of the moving target; A first determination module, configured to determine, according to the moving target parameters of the moving targets, a first moving target among the moving targets that overlaps with the to-be-traveled trajectory of the own vehicle; A second determination module is used to determine, if a stationary target is found in the static and dynamic classification process, a first stationary target that overlaps with the to-be-traveled trajectory of the own vehicle from among the stationary targets; A target selection module is used to select an activation target with the shortest collision time from the first moving target and / or the first stationary target, so that the own vehicle activates automatic emergency braking according to the activation target.

11. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the method according to any one of claims 1 to 9 when executing a program stored in a memory.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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