Control method and system of automatic emergency braking system, vehicle and medium

Abstract

The invention discloses a control method and system of an automatic emergency braking system, a vehicle and a medium, and relates to the technical field of automobiles. According to the method, when it is detected that an object is changed from an existing state to a non-existing state, braking is not directly interrupted, a braking instruction is kept, and vehicle running is controlled with a small deceleration value. The brake is kept within the first preset time after the object is lost, so that the condition of missed triggering is reduced; the vehicle is controlled to run according to the reduced deceleration value within the first preset duration after the object is lost, the speed of the vehicle is not reduced to be very low, obvious deceleration cannot be generated, and the influence of obvious amplification false triggering and the situation of rear-end collision of rear vehicles are avoided; according to the method, the braking request is not recovered immediately after braking is stopped, but the braking instruction is kept when it is detected that the existing state of the object is changed into the non-existing state, so that the situation that the braking execution module cannot respond to the braking request is avoided, and the driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a control method, system, vehicle and medium of an automatic emergency braking system. Background Art

[0002] Autonomous Emergency Braking (AEB) is an advanced active safety technology for automobiles. It detects potential collision risks of automobiles through sensors and perception algorithms, and automatically brakes when danger approaches to avoid or mitigate the impact of collisions. The system is mainly composed of a perception module, a control module, and a brake execution module.

[0003] The AEB function is usually implemented in vehicles using camera solutions. However, the camera solution has inherent defects. In poorly lit environments, the target perception performance will be reduced, and the target will be temporarily lost. At this time, the brake execution module stops braking due to target loss, which leads to a collision. That is, the AEB function is not triggered, affecting driving safety.

[0004] It can be seen that, in the case of a temporary loss of the target, how to remedy the trigger interruption to improve driving safety is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] The purpose of the present invention is to provide a control method, system, vehicle and medium of an automatic emergency braking system to solve the technical problem that when a target is temporarily lost, a braking execution module stops braking, causing a collision, thereby affecting driving safety.

[0006] In order to solve the above technical problems, the present invention provides a control method of an automatic emergency braking system, comprising:

[0007] When an object is detected on the road, triggering a first braking instruction and controlling the vehicle to travel according to the first braking instruction;

[0008] When it is detected that the object changes from a presence state to a non-presence state, adjusting the first braking instruction to a second braking instruction; wherein the deceleration value requested in the second braking instruction is smaller than the deceleration value requested in the first braking instruction;

[0009] The vehicle is controlled to travel according to the second braking instruction within a first preset time period.

[0010] Preferably, the first preset time duration is determined at least based on the time duration of the object being lost and / or the time duration of the braking system response; the time duration of the object being lost is positively correlated with the first preset time duration; the time duration of the braking system response is positively correlated with the first preset time duration.

[0011] Preferably, the first preset time is determined according to the time when the object is lost, and after the vehicle is controlled to travel according to the second braking instruction within the first preset time, the method further includes:

[0012] Since the object is detected to change from the existing state to the non-existing state, if no object is detected within the object loss time threshold, adjusting the second braking instruction to a normal driving instruction, and controlling the vehicle to drive according to the normal driving instruction; wherein the deceleration value of the vehicle during normal driving is less than the deceleration value requested in the second braking instruction;

[0013] Starting from the time when the object is detected to change from the existence state to the non-existence state, if the object is detected within the object loss time threshold, the second braking instruction is adjusted to the first braking instruction, and the vehicle is controlled to travel according to the first braking instruction.

[0014] Preferably, after the controlling vehicle to drive according to the normal driving instruction, or after the controlling vehicle to drive according to the first braking instruction, the method further includes:

[0015] Continue to detect the presence of objects on the road;

[0016] The first braking command, the second braking command or the normal driving command is triggered according to the presence of objects on the road, and the vehicle driving is controlled according to the first braking command, the second braking command or the normal driving command.

[0017] Preferably, it also includes:

[0018] Setting a flag bit for indicating a request for deceleration and / or a flag bit for indicating an execution of deceleration;

[0019] In the case where an object is detected on the road, the flag bit for indicating a request for deceleration and / or the flag bit for indicating an execution of deceleration are set to a first preset value;

[0020] Starting from the detection that the object changes from the existence state to the non-existence state, if the object is not detected within the object loss time threshold, the flag bit for representing the request for deceleration and / or the flag bit for representing the execution of deceleration are maintained at the first preset value within the object loss time threshold, and after the object loss time threshold, the flag bit for representing the request for deceleration and / or the flag bit for representing the execution of deceleration are adjusted from the first preset value to a second preset value;

[0021] Starting from the time when it is detected that the object changes from a presence state to a non-presence state, if an object is detected within the object loss time threshold, the flag used to represent the request for deceleration and / or the flag used to represent the execution of deceleration are controlled to maintain the first preset value within a second preset time; wherein the second preset time is the sum of the time from the moment when it is detected that the object changes from a presence state to a non-presence state to the moment when the object is detected and the time when the object is continuously detected.

[0022] Preferably, before controlling the vehicle to travel according to the first braking instruction, the method further includes:

[0023] Get the first speed value of the vehicle;

[0024] After controlling the vehicle to travel according to the first braking instruction, the method further includes:

[0025] Obtain a second speed value of the vehicle;

[0026] determining whether the second speed value is less than the first speed value;

[0027] If yes, continue to detect the existence of the object on the road; trigger the first braking command, the second braking command or the normal driving command according to the existence of the object on the road, and control the vehicle to travel according to the first braking command, the second braking command or the normal driving command;

[0028] If not, continue to trigger the first braking instruction and control the vehicle to travel according to the first braking instruction.

[0029] Preferably, after controlling the vehicle to travel according to the second braking instruction within the first preset time period, the method further includes:

[0030] Get the current speed value of the vehicle;

[0031] Determine whether the current speed value is less than the second speed value;

[0032] If yes, continue to detect the existence of the object on the road; trigger the first braking command, the second braking command or the normal driving command according to the existence of the object on the road, and control the vehicle to travel according to the first braking command, the second braking command or the normal driving command;

[0033] If not, the first braking instruction is adjusted to a second braking instruction, and the vehicle is controlled to travel according to the second braking instruction within a first preset time period.

[0034] In order to solve the above technical problems, the present invention further provides an automatic emergency braking system, comprising:

[0035] A detection and triggering module, configured to trigger a first braking instruction and control the vehicle to travel according to the first braking instruction when an object is detected on the road;

[0036] A detection and adjustment module, configured to adjust the first braking instruction to a second braking instruction when detecting that the object changes from a presence state to a non-presence state; wherein the deceleration value requested in the second braking instruction is less than the deceleration value requested in the first braking instruction;

[0037] The control module is used to control the vehicle to travel according to the second braking instruction within a first preset time period.

[0038] In order to solve the above technical problems, the present invention further provides a vehicle, comprising:

[0039] Memory for storing computer programs;

[0040] A processor is used to implement the steps of the above-mentioned automatic emergency braking system control method when executing the computer program.

[0041] In order to solve the above technical problem, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the automatic emergency braking system are implemented.

[0042] The control method of the automatic emergency braking system provided by the present invention comprises: in the case of detecting the existence of an object on the road, triggering a first braking instruction and controlling the vehicle to travel according to the first braking instruction; when detecting that the object changes from the existence state to the non-existence state, adjusting the first braking instruction to a second braking instruction; and finally controlling the vehicle to travel according to the second braking instruction within a first preset time length. In the method, when detecting that the object changes from the existence state to the non-existence state, the braking is not directly interrupted, but the braking instruction is maintained, and since the value of the deceleration requested in the second braking instruction is less than the value of the deceleration requested in the first braking instruction, the vehicle is controlled to travel with a smaller deceleration value. On the one hand, since the braking is maintained within the first preset time length after the object is lost, the situation of missed triggering is reduced; on the other hand, within the first preset time length after the object is lost, the vehicle is controlled to travel according to the reduced deceleration value, rather than reducing the vehicle speed to a very low level, that is, no obvious deceleration occurs, thereby avoiding the obvious amplification of the influence of false triggering and avoiding the occurrence of rear-end collisions with rear vehicles as much as possible. In addition, in this method, the braking request is not restored immediately after braking is stopped. Instead, the braking command is maintained when it is detected that the object changes from a presence state to a non-existence state. As a result, there will be no situation where the braking execution module cannot respond to the braking request (the braking execution module has functional safety requirements and can only execute an AEB braking request once within a certain period of time; that is, after the upper-level controller stops requesting braking, the braking execution module will not be able to respond to braking even if the braking request is restored immediately), thereby improving driving safety.

[0043] In addition, the present invention also provides an automatic emergency braking system, a vehicle and a computer-readable storage medium, which have the same or corresponding technical features as the control method of the automatic emergency braking system mentioned above, and have the same effects as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A flowchart of an AEB triggering process provided by an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of an AEB system executed after a target is temporarily lost according to an embodiment of the present invention;

[0047] Figure 3 A flow chart of a control method of an automatic emergency braking system provided by an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of an AEB system executing in a scenario where an object changes from a presence state to a non-presence state and the object is not detected within an object loss time threshold provided by an embodiment of the present invention;

[0049] Figure 5 A schematic diagram of an AEB system provided by an embodiment of the present invention when an object is detected to change from a presence state to a non-presence state and the object is detected within a threshold of the object loss duration;

[0050] Figure 6 A structural diagram of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] The core of the present invention is to provide a control method, system, vehicle and medium for an automatic emergency braking system to solve the technical problem that when the target is temporarily lost, the braking execution module stops braking, causing a collision, thereby affecting driving safety.

[0053] Figure 1 A flowchart of an AEB triggering process provided by an embodiment of the present invention is as follows: Figure 1 As shown, the AEB triggering process includes:

[0054] S10: Image acquisition;

[0055] S11: Hazard perception;

[0056] S12: Braking command decision;

[0057] S13: Braking command execution;

[0058] S14: Control the vehicle to decelerate.

[0059] First, the AEB system will capture images of the real world through the camera; then the perception module will process the image information and output dangerous objects; the decision (control) module will determine whether a braking command needs to be issued; and the control braking execution module will brake and decelerate according to the braking command.

[0060] When the camera on the vehicle is in a poorly lit environment, the target perception performance will be reduced. For example, if pedestrians, motorcycles and cars suddenly appear in front of the vehicle at night, the AEB system will be triggered. Due to the perception performance, these dangerous targets will be temporarily lost. The brake execution module stops braking due to the loss of the target, which leads to a collision.

[0061] The brake execution module has functional safety requirements and can only execute an AEB brake request once within a certain period of time; this means that after the upper-level controller stops requesting braking, the brake execution module will not be able to respond to the brake even if the braking request is resumed immediately. Figure 2 A schematic diagram of an AEB system executed after a target is temporarily lost according to an embodiment of the present invention is shown in FIG. Figure 2 As shown, it includes the situation of sensing dangerous objects at different times, the situation of requesting the deceleration flag, the situation of executing the deceleration flag, and the situation of executing the vehicle deceleration. It can be seen that in an AEB execution process with a dangerous target lost, when the dangerous object output by the sensing end changes from existence to non-existence, the braking command will be immediately exited, and the requested target deceleration value will be immediately exited; the execution system will no longer continue to execute the braking command. In this process, even if the dangerous target is re-acquired, the perception system re-outputs the dangerous target, and the decision system restores the braking command and requests the deceleration, the braking execution module will not execute the braking command.

[0062] Therefore, in order to improve driving safety, the present invention provides a control method for an automatic emergency braking system.

[0063] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Figure 3 A flow chart of a control method of an automatic emergency braking system provided by an embodiment of the present invention is as follows Figure 3 As shown, the method includes:

[0064] S20: When an object is detected on the road, triggering a first braking instruction and controlling the vehicle to travel according to the first braking instruction;

[0065] S21: when it is detected that the object changes from the existing state to the non-existing state, adjusting the first braking instruction to a second braking instruction; wherein the deceleration value requested in the second braking instruction is smaller than the deceleration value requested in the first braking instruction;

[0066] S22: Control the vehicle to travel according to the second braking instruction within a first preset time period.

[0067] The automatic emergency braking system includes a perception module, a control module and a braking execution module. The perception module is such as a camera. In practice, the presence or absence of an object on the road can be determined based on the information from the perception module. Specifically, the camera first continuously collects images or video streams of road scenes; then the collected images are pre-processed by filtering, enhancing, and other operations to remove noise and improve contrast; then features such as color, edge, and texture are extracted; then traditional machine learning classifiers or deep learning models such as convolutional neural networks are used for target detection and classification, and the presence of an object is determined by setting a confidence threshold, and verification is performed by combining multiple frames of image information; finally, post-processing operations such as removing false detections are performed, and the camera detection results can be fused with other sensor information such as radar and lidar to more accurately determine the presence of objects on the road.

[0068] When an object is detected on the road, in order to ensure driving safety, the first braking command is triggered and the vehicle is controlled to travel according to the first braking command.

[0069] Continue to detect the existence of the object on the road, and when it is detected that the object changes from the existence state to the non-existence state, adjust the first brake command to the second brake command. There is no limitation on the value of the deceleration requested in the first brake command and the value of the deceleration requested in the second brake command, as long as the value of the deceleration requested in the second brake command is less than the value of the deceleration requested in the first brake command. It is worth noting that the absolute value of the deceleration is used to represent the value of the deceleration in the present invention.

[0070] Afterwards, the vehicle is controlled to travel according to the second braking instruction within the first preset time. The first preset time is not limited. In some embodiments, the first preset time is determined at least according to the time when the object is lost and / or the time when the braking system responds; the time when the object is lost is positively correlated with the first preset time; and the time when the braking system responds is positively correlated with the first preset time.

[0071] The control method of the automatic emergency braking system provided in this embodiment includes: in the case of detecting the existence of an object on the road, triggering a first braking instruction and controlling the vehicle to travel according to the first braking instruction; when detecting that the object changes from the existence state to the non-existence state, adjusting the first braking instruction to a second braking instruction; and finally controlling the vehicle to travel according to the second braking instruction within a first preset time. In this method, when detecting that the object changes from the existence state to the non-existence state, the braking is not directly interrupted, but the braking instruction is maintained, and since the value of the deceleration requested in the second braking instruction is less than the value of the deceleration requested in the first braking instruction, the vehicle is controlled to travel with a smaller deceleration value. On the one hand, since the braking is maintained within the first preset time after the object is lost, the situation of missed triggering is reduced; on the other hand, within the first preset time after the object is lost, the vehicle is controlled to travel according to the reduced deceleration value, rather than reducing the vehicle speed to a very low level, that is, no obvious deceleration occurs, thereby avoiding the obvious amplification of the impact of false triggering and avoiding the occurrence of rear-end collisions as much as possible. In addition, in this method, the braking request is not restored immediately after braking is stopped. Instead, the braking command is maintained when it is detected that the object changes from a presence state to a non-existence state. As a result, there will be no situation where the braking execution module cannot respond to the braking request (the braking execution module has functional safety requirements and can only execute an AEB braking request once within a certain period of time; that is, after the upper-level controller stops requesting braking, the braking execution module will not be able to respond to braking even if the braking request is restored immediately), thereby improving driving safety.

[0072] In some embodiments, the first preset time is determined according to the time when the object is lost, and after controlling the vehicle to travel according to the second braking instruction within the first preset time, the method further includes:

[0073] Since the object is detected to change from the existing state to the non-existing state, if the object is not detected within the object loss time threshold, the second braking instruction is adjusted to a normal driving instruction, and the vehicle is controlled to drive according to the normal driving instruction; wherein the deceleration value of the vehicle during normal driving is less than the deceleration value requested in the second braking instruction;

[0074] From the time when it is detected that the object changes from a presence state to a non-presence state, if the object is detected within the object loss time threshold, the second braking command is adjusted to the first braking command, and the vehicle is controlled to travel according to the first braking command.

[0075] There is no limit on the object loss time threshold, such as setting the object loss time threshold to within 300ms. Any time less than or equal to the object loss time threshold is considered to be within the object loss time threshold, such as detecting the existence of an object on the road or the absence of an object on the road within less than or equal to 300ms from the time the object is detected to change from the existence state to the non-existence state. Figure 4A schematic diagram of an AEB system executed in a scenario where an object changes from a presence state to a non-presence state and the object is not detected within the object loss time threshold is provided in an embodiment of the present invention. Figure 4 As shown in the figure, it includes the situation of sensing dangerous objects at different times, the situation of requesting the deceleration flag, the situation of executing the deceleration flag, and the situation of executing the vehicle deceleration. During an AEB execution process, when the dangerous object output by the sensing end changes from existence to non-existence, the braking command will not be exited immediately, but will continue to maintain the braking command for a certain period of time before exiting (such as Figure 4 The time length T in the braking command is reduced accordingly, and the target deceleration value requested is reduced accordingly; the braking execution module continues to execute the braking command, and the executed deceleration value is reduced accordingly following the requested value. In this process, the dangerous target is reacquired, the perception system outputs the dangerous target, the decision system restores the normal braking command and the normal deceleration request value, and the execution system restores the normal braking command and the target deceleration value.

[0076] In practice, if the deceleration value requested in the first brake command is 10m / s² and the deceleration value requested in the second brake command is 5m / s², the first brake command is used to control the vehicle's movement, that is, full braking, so that the vehicle can be decelerated quickly, thereby controlling the vehicle's driving state and avoiding danger; the second brake command is used to control the vehicle's movement, that is, partial braking, to avoid excessive speed reduction, which will significantly amplify the impact of false triggering and even cause rear-end collisions. It should be noted that Figure 4 The minimum deceleration value within the T time is less than 5m / s² because the braking system has a certain response time, resulting in the minimum deceleration value being greater than 5m / s².

[0077] Figure 5 A schematic diagram of an AEB system provided by an embodiment of the present invention when an object is detected to change from a presence state to a non-presence state and the object is detected within a threshold of the object loss duration. Figure 5 As shown, it includes the situations of sensing dangerous objects at different times, requesting the deceleration flag, executing the deceleration flag, and executing the vehicle deceleration. Although the dangerous target was temporarily lost due to the perception detection defect, the vehicle did not stop braking, and immediately restored the normal braking force after the dangerous target was restored, thereby avoiding collision or minimizing the collision damage. The performance of the AEB function is improved. Similarly, if the deceleration value requested in the first braking instruction is 10m / s², and the deceleration value requested in the second braking instruction is 5m / s², Figure 4 The minimum deceleration value within the T time is less than 5m / s² because the braking system has a certain response time, resulting in the minimum deceleration value being greater than 5m / s².

[0078] In practice, the situation of vehicles on the road changes in real time. In order to achieve real-time control of the automatic emergency braking system, in some embodiments, after controlling the vehicle to travel according to the normal driving instruction or after controlling the vehicle to travel according to the first braking instruction, the following is further included:

[0079] Continue to detect the presence of objects on the road;

[0080] A first braking command, a second braking command or a normal driving command is triggered according to the presence of an object on the road, and the vehicle is controlled to travel according to the first braking command, the second braking command or the normal driving command.

[0081] By continuously monitoring the presence of objects on the road and adjusting the corresponding control instructions, the vehicle can be controlled according to the instructions, so that the control of the automatic emergency braking system meets the control requirements of the vehicle in the actual road scene.

[0082] In some embodiments, in order to enable the user to intuitively understand the situation of requesting deceleration and executing deceleration, the control method of the automatic emergency braking system further includes:

[0083] Setting a flag bit for indicating a request for deceleration and / or a flag bit for indicating an execution of deceleration;

[0084] In the case where an object is detected on the road, setting a flag bit for indicating a request for deceleration and / or a flag bit for indicating execution of deceleration to a first preset value;

[0085] Starting from the detection that the object changes from the existence state to the non-existence state, if the object is not detected within the object loss time threshold, the flag bit used to represent the request for deceleration and / or the flag bit used to represent the execution of deceleration is maintained at a first preset value within the object loss time threshold, and after the object loss time threshold, the flag bit used to represent the request for deceleration and / or the flag bit used to represent the execution of deceleration is adjusted from the first preset value to a second preset value;

[0086] Starting from the time when it is detected that the object changes from a presence state to a non-presence state, if the object is detected within the object loss time threshold, the flag used to represent the request for deceleration and / or the flag used to represent the execution of deceleration are controlled to maintain a first preset value within a second preset time; wherein the second preset time is the sum of the time from the moment when it is detected that the object changes from a presence state to a non-presence state to the moment when the object is detected and the time when the object is continuously detected.

[0087] The flag used to indicate the request for deceleration is as follows Figure 2 , Figure 4 and Figure 5 The flag bit for requesting deceleration in the Figure 2 , Figure 4 and Figure 5 The execution deceleration flag in the . The first preset value and the second preset value are not limited, such as the first preset value is 1 and the second preset value is 0.

[0088] In addition, in practice, it may happen that after the vehicle is controlled to travel according to the first braking instruction, or after the vehicle is controlled to travel according to the second braking instruction within the first preset time, the speed of the vehicle does not decrease. Therefore, in some embodiments, before the vehicle is controlled to travel according to the first braking instruction, the following steps are further included:

[0089] Get the first speed value of the vehicle;

[0090] After controlling the vehicle to travel according to the first brake instruction, the method further includes:

[0091] Obtain a second speed value of the vehicle;

[0092] Determine whether the second speed value is less than the first speed value;

[0093] If yes, continue to detect the existence of the object on the road; trigger the first braking command, the second braking command or the normal driving command according to the existence of the object on the road, and control the vehicle to travel according to the first braking command, the second braking command or the normal driving command;

[0094] If not, continue to trigger the first brake command and control the vehicle to travel according to the first brake command.

[0095] After controlling the vehicle to travel according to the second braking instruction within the first preset time, the method further includes:

[0096] Get the current speed value of the vehicle;

[0097] Determine whether the current speed value is less than the second speed value;

[0098] If yes, continue to detect the existence of the object on the road; trigger the first braking command, the second braking command or the normal driving command according to the existence of the object on the road, and control the vehicle to travel according to the first braking command, the second braking command or the normal driving command;

[0099] If not, the first braking instruction is adjusted to the second braking instruction, and the vehicle is controlled to travel according to the second braking instruction within a first preset time period.

[0100] The embodiments of triggering the first braking command, the second braking command or the normal driving command according to the presence of objects on the road and controlling the vehicle driving according to the first braking command, the second braking command or the normal driving command have been described in detail above and will not be repeated here.

[0101] The control method of the automatic emergency braking system provided by the embodiment of the present invention greatly reduces the collision caused by AEB missed triggering or insufficient braking when the dangerous target perceived by the camera is temporarily lost in scenarios such as insufficient lighting at night; it does not increase the AEB false triggering rate. For normal AEB triggering, a braking request will be added for a period of time when the original trigger ends. At this time, the vehicle speed is very low, and the braking time is very short. The requested deceleration is low, and the original AEB braking effect will not be significantly changed. In addition, this solution does not require changes to the braking system, reducing the cost of the entire vehicle.

[0102] In the above embodiments, the control method of the automatic emergency braking system is described in detail, and the present invention also provides embodiments of the automatic emergency braking system and the vehicle. It should be noted that the present invention describes the embodiments of the device part from two perspectives, one is based on the functional module perspective, and the other is based on the hardware perspective.

[0103] The embodiment of the present invention provides an automatic emergency braking system. Based on the perspective of functional modules, it includes:

[0104] A detection and triggering module, configured to trigger a first braking command and control the vehicle to travel according to the first braking command when an object is detected on the road;

[0105] A detection and adjustment module, configured to adjust the first braking instruction to a second braking instruction when detecting that the object changes from a presence state to a non-presence state; wherein the deceleration value requested in the second braking instruction is less than the deceleration value requested in the first braking instruction;

[0106] The control module is used to control the vehicle to travel according to the second braking instruction within a first preset time period.

[0107] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0108] Figure 6 This is a structural diagram of a vehicle provided by an embodiment of the present invention. This embodiment is based on the hardware perspective, such as Figure 6 As shown, the vehicle includes:

[0109] A memory 20, for storing computer programs;

[0110] The processor 21 is used to implement the steps of the method for controlling the automatic emergency braking system mentioned in the above embodiment when executing the computer program.

[0111] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0112] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the control method of the automatic emergency braking system disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the data involved in the control method of the automatic emergency braking system mentioned above, etc.

[0113] In some embodiments, the vehicle may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power source 25 , and a communication bus 26 .

[0114] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation of the vehicle and may include more or fewer components than shown.

[0115] The vehicle provided by the embodiment of the present invention includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: a method for controlling an automatic emergency braking system, with the same effect as above.

[0116] Finally, the present invention also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the above method embodiment are implemented.

[0117] It is understandable that if the method in the above embodiment 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 present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc. Various media that can store program codes.

[0118] The computer-readable storage medium provided by the present invention includes the above-mentioned method for controlling the automatic emergency braking system, and the effect is the same as above.

[0119] The control method, system, vehicle and medium of an automatic emergency braking system provided by the present invention are introduced in detail above. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

[0120] It should also be noted that, in this specification, relational terms such as first and second, etc. 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 "comprise", "include" 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, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A control method for an automatic emergency braking system, characterized in that: include: When an object is detected on the road, triggering a first braking instruction and controlling the vehicle to travel according to the first braking instruction; When it is detected that the object changes from a presence state to a non-presence state, adjusting the first braking instruction to a second braking instruction; wherein the deceleration value requested in the second braking instruction is smaller than the deceleration value requested in the first braking instruction; The vehicle is controlled to travel according to the second braking instruction within a first preset time period.

2. The control method of the automatic emergency braking system according to claim 1, characterized in that: The first preset time duration is determined at least according to the time duration of the object being lost and / or the time duration of the braking system response; the time duration of the object being lost is positively correlated with the first preset time duration; The duration of the brake system response is positively correlated with the first preset duration.

3. The control method of the automatic emergency braking system according to claim 2, characterized in that: The first preset time is determined according to the time when the object is lost, and after the vehicle is controlled to travel according to the second braking instruction within the first preset time, the method further includes: Since the object is detected to change from the existing state to the non-existing state, if no object is detected within the object loss time threshold, adjusting the second braking instruction to a normal driving instruction, and controlling the vehicle to drive according to the normal driving instruction; wherein the deceleration value of the vehicle during normal driving is less than the deceleration value requested in the second braking instruction; Starting from the time when the object is detected to change from the existence state to the non-existence state, if the object is detected within the object loss time threshold, the second braking instruction is adjusted to the first braking instruction, and the vehicle is controlled to travel according to the first braking instruction.

4. The control method of the automatic emergency braking system according to claim 3, characterized in that: After the vehicle is controlled to travel according to the normal travel instruction, or after the vehicle is controlled to travel according to the first braking instruction, the method further includes: Continue to detect the presence of objects on the road; The first braking command, the second braking command or the normal driving command is triggered according to the presence of objects on the road, and the vehicle driving is controlled according to the first braking command, the second braking command or the normal driving command.

5. The control method of the automatic emergency braking system according to claim 3 or 4, characterized in that: Also includes: Setting a flag bit for indicating a request for deceleration and / or a flag bit for indicating an execution of deceleration; In the case where an object is detected on the road, the flag bit for indicating a request for deceleration and / or the flag bit for indicating an execution of deceleration are set to a first preset value; Starting from the detection that the object changes from the existence state to the non-existence state, if the object is not detected within the object loss time threshold, the flag bit for representing the request for deceleration and / or the flag bit for representing the execution of deceleration are maintained at the first preset value within the object loss time threshold, and after the object loss time threshold, the flag bit for representing the request for deceleration and / or the flag bit for representing the execution of deceleration are adjusted from the first preset value to a second preset value; Starting from the time when it is detected that the object changes from a presence state to a non-presence state, if an object is detected within the object loss time threshold, the flag used to represent the request for deceleration and / or the flag used to represent the execution of deceleration are controlled to maintain the first preset value within a second preset time; wherein the second preset time is the sum of the time from the moment when it is detected that the object changes from a presence state to a non-presence state to the moment when the object is detected and the time when the object is continuously detected.

6. The control method of the automatic emergency braking system according to claim 3, characterized in that: Before controlling the vehicle to travel according to the first braking instruction, the method further includes: Get the first speed value of the vehicle; After controlling the vehicle to travel according to the first braking instruction, the method further includes: Obtain a second speed value of the vehicle; determining whether the second speed value is less than the first speed value; If yes, continue to detect the existence of the object on the road; trigger the first braking command, the second braking command or the normal driving command according to the existence of the object on the road, and control the vehicle to travel according to the first braking command, the second braking command or the normal driving command; If not, continue to trigger the first braking instruction and control the vehicle to travel according to the first braking instruction.

7. The control method of the automatic emergency braking system according to claim 6, characterized in that: After controlling the vehicle to travel according to the second braking instruction within the first preset time, the method further includes: Get the current speed value of the vehicle; Determine whether the current speed value is less than the second speed value; If yes, continue to detect the existence of the object on the road; trigger the first braking command, the second braking command or the normal driving command according to the existence of the object on the road, and control the vehicle to travel according to the first braking command, the second braking command or the normal driving command; If not, the first braking instruction is adjusted to a second braking instruction, and the vehicle is controlled to travel according to the second braking instruction within a first preset time period.

8. An automatic emergency braking system, characterized in that: include: A detection and triggering module, configured to trigger a first braking instruction and control the vehicle to travel according to the first braking instruction when an object is detected on the road; A detection and adjustment module, configured to adjust the first braking instruction to a second braking instruction when detecting that the object changes from a presence state to a non-presence state; wherein the deceleration value requested in the second braking instruction is less than the deceleration value requested in the first braking instruction; The control module is used to control the vehicle to travel according to the second braking instruction within a first preset time period.

9. A vehicle, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the control method of the automatic emergency braking system as described in any one of claims 1 to 7 when executing the computer program.

10. 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 steps of the control method of the automatic emergency braking system according to any one of claims 1 to 7 are implemented.

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