Vehicle AEB control method and device

Abstract

The invention provides a vehicle AEB control method and device. The vehicle AEB control method comprises the steps that vehicle environment data are continuously monitored; activating an AEB enhancement mode according to the vehicle environment data, wherein the AEB enhancement mode is kept in an activated state; and performing AEB control on the vehicle in combination with the vehicle environment data and the AEB enhancement mode. The AEB control logic and strategy are optimized, the AEB can be activated in the low-speed, high-speed and back-up states, and the AEB is in the continuous intervention state after intervention, so that the AEB can adapt to more driving scenes, accidents are reduced and avoided, and losses caused by traffic accidents are reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle auxiliary technology, and in particular to a vehicle AEB control method and device. Background Art

[0002] With the rapid development of automobile technology, the number of cars on the road has increased sharply. While cars bring convenience to people's lives, car accidents also cause different degrees of loss of life and property to people. Automobile safety has always been regarded as the most important feature of automobiles and a key driving factor in the development of automobile technology. At present, the technology of automatic emergency braking system (Autonomous Emergency Braking, AEB) has been relatively mature and widely used, which has reduced the occurrence of traffic accidents to a certain extent and greatly reduced the loss of life and property in traffic accidents. However, there is no unified AEB standard at present, resulting in the AEB effect of different manufacturers may be very different. For example, AEB will be activated only when the vehicle reaches a certain speed or within a certain speed range, resulting in the vehicle not being protected by AEB at low speed or high speed; AEB will not be activated in the reversing state, and static obstacles or speed limits will not be recognized in the reversing state; AEB will not continue to be in the AEB intervention state after it takes effect, resulting in traffic safety not being protected in some special cases. Therefore, on the basis of the existing AEB, AEB is activated at low speed, high speed and reversing state, and AEB is in a continuous intervention state after intervention, and the optimization of AEB control logic and strategy has become a technical problem that needs to be solved at present. Summary of the invention

[0003] The present invention provides a vehicle AEB control method and device, which are used to solve the driving safety problem in the prior art that AEB is activated at low speed, high speed and reversing state, and AEB cannot continue to intervene after intervention.

[0004] The present invention provides a vehicle AEB control method, which continuously monitors vehicle environmental data; activates an AEB enhancement mode according to the vehicle environmental data, and the AEB enhancement mode remains activated; and performs AEB control on the vehicle in combination with the vehicle environmental data and the AEB enhancement mode.

[0005] Optionally, an AEB basic mode is also included, and the AEB enhanced mode and the AEB basic mode work in succession with each other.

[0006] Optionally, the vehicle operating state is determined based on vehicle environmental data, the vehicle operating state including a low-speed state, a high-speed state, a reversing state and an emergency state; and the AEB enhanced mode is automatically activated based on the vehicle operating state.

[0007] Optionally, a dangerous event is determined based on vehicle environmental data; in AEB enhanced mode, power control or braking control of the vehicle is performed based on the dangerous event; if the dangerous event is resolved, the power control or braking control caused by the current dangerous event is canceled.

[0008] Optionally, the distance between the vehicle and the obstacle is determined based on the vehicle environmental data; if the distance between the vehicle and the obstacle is less than a second distance preset threshold, the vehicle is powered; if the distance between the vehicle and the obstacle is less than a first distance preset threshold, the vehicle is braked; if the distance between the vehicle and the obstacle is not less than the second distance preset threshold, and the steering and gear position of the vehicle are opposite to the direction of the obstacle, the power control or brake control caused by the current dangerous event is canceled.

[0009] Optionally, if the distance between the vehicle and the obstacle is greater than a second distance preset threshold and less than a third distance preset threshold, the danger warning is automatically turned on.

[0010] Optionally, the current vehicle speed is determined based on vehicle environmental data; a first distance preset threshold, a second distance preset threshold and a third distance preset threshold are determined based on the current vehicle speed; if the current vehicle speed is within the AEB basic mode speed range, the current AEB enhanced mode is automatically canceled.

[0011] Optionally, the environmental perception sensors include: vehicle-mounted cameras, ultrasonic radars, millimeter-wave radars, lidars, and infrared imaging cameras.

[0012] Optionally, manually turn AEB enhanced mode on or off as needed

[0013] In another aspect, the present invention provides a vehicle AEB control device, comprising:

[0014] Environmental perception module, used to continuously monitor vehicle environmental data;

[0015] The activation module is used to activate the AEB enhanced mode according to the vehicle environment data, and the AEB enhanced mode remains activated.

[0016] A control module is used to perform AEB control on the vehicle in combination with vehicle environment data and the AEB enhancement mode.

[0017] It can be seen from the above technical solutions that the present invention includes: continuously monitoring vehicle environmental data; activating the AEB enhanced mode according to the vehicle environmental data, and the AEB enhanced mode remains activated; and performing AEB control on the vehicle in combination with the vehicle environmental data and the AEB enhanced mode. The present invention optimizes the AEB control logic and strategy, and can activate AEB at low speed, high speed and reversing state, and AEB is in a continuous intervention state after intervention, so that AEB can adapt to more driving scenarios, reduce and avoid accidents, and reduce the losses caused by traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a vehicle AEB control method provided by one embodiment of the present invention;

[0019] Figure 2 A schematic flow chart of an AEB control method in an AEB enhanced mode provided by an embodiment of the present invention;

[0020] Figure 3 A schematic flow chart of an AEB control method in an AEB enhanced mode provided by another embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the structure of a vehicle AEB control device provided by one embodiment of the present invention;

[0022] Figure 5 A schematic structural diagram of a vehicle AEB control device provided in another embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0024] Figure 1 FIG. 1 shows a flow chart of a vehicle AEB control method provided by an embodiment of the present invention, such as Figure 1 As shown, the control method of this embodiment includes:

[0025] 110. Continuously monitor vehicle environmental data;

[0026] 120. AEB Enhanced Mode is activated based on vehicle environment data and AEB Enhanced Mode remains activated;

[0027] 130. Combine vehicle environment data and AEB enhancement mode to perform AEB control on the vehicle.

[0028] AEB is an active automobile safety technology. It refers to a technology that allows a vehicle to drive normally under non-adaptive cruise conditions. For example, when the vehicle encounters a sudden dangerous situation or the distance to the vehicle in front or pedestrians is less than the safe distance, it will actively brake to avoid or reduce the occurrence of rear-end collisions, thereby improving driving safety.

[0029] Environmental perception sensors continuously monitor vehicle environmental data. Environmental perception is a complex system that requires a variety of on-board sensors to obtain real-time information about the vehicle's surrounding environment. Environmental perception sensors continuously collect vehicle environmental data and determine the vehicle's operating status after data processing. The vehicle's operating status includes low-speed state, high-speed state, reversing state and emergency state. The vehicle automatically activates the AEB enhanced mode according to the vehicle's operating status. The AEB enhanced mode remains activated after activation, unless the AEB enhanced mode is manually turned off or the vehicle speed is within the AEB basic mode speed range. The vehicle automatically cancels the current AEB enhanced mode and switches to the basic mode.

[0030] AEB includes two modes: basic mode and enhanced mode. In basic mode, AEB is activated only when the vehicle reaches a certain speed or within a certain speed range, resulting in the vehicle not being protected by AEB at low speed, high speed and reversing state. In addition, after AEB takes effect in AEB basic mode, it will not continue to be in the AEB intervention state, resulting in traffic safety not being protected in some special cases. In enhanced mode, AEB enhanced mode is automatically activated according to the vehicle's operating status, and the vehicle is controlled by AEB enhanced mode. The vehicle is protected by AEB at low speed, high speed and reversing state. For example, if the vehicle is determined to be at a high speed based on the vehicle's environmental data, AEB enhanced mode is automatically activated, and the vehicle is protected by AEB at a high speed, reducing the risk of high-speed driving.

[0031] The basic mode and enhanced mode work in succession with each other. If the AEB enhanced mode is turned on, the AEB mode switches to the enhanced mode, and the vehicle is controlled by the AEB enhanced mode; if the AEB enhanced mode is turned off, the AEB mode switches to the basic mode, and the vehicle is controlled by the AEB basic mode.

[0032] Figure 2 FIG. 2 shows a flow chart of an AEB control method in an AEB enhancement mode provided by an embodiment of the present invention. Figure 2 As shown, the present embodiment combines vehicle environment data and the AEB enhancement mode to perform AEB control on the vehicle, including:

[0033] 210. Determine dangerous events based on vehicle environment data;

[0034] 220. In AEB enhanced mode, the vehicle is powered or braked according to dangerous events;

[0035] 230. If the dangerous event is resolved, cancel the power control or braking control caused by the current dangerous event.

[0036] Specifically, the vehicle obtains the distance between the vehicle and the obstacle based on the data information collected by the vehicle's environmental perception sensor when the vehicle is at low speed, high speed, reversing or in an emergency state, and determines dangerous events based on the distance between the vehicle and the obstacle. Dangerous events include collision risks. The closer the distance between the vehicle and the obstacle, the greater the collision risk and the higher the risk factor of the dangerous event. In the AEB enhanced mode, the vehicle is selected for power control or brake control based on the risk factor of the dangerous event until the dangerous event is resolved, and the power control or brake control caused by the current dangerous event is automatically canceled. If the vehicle's AEB enhanced mode determines a dangerous event, but the driver determines that the current event is safe, the power control or brake control caused by the current dangerous event can be manually canceled, and the vehicle will not be controlled by AEB.

[0037] Figure 3 FIG. 2 shows a flow chart of an AEB control method in an AEB enhancement mode provided by another embodiment of the present invention. Figure 3 As shown, the present embodiment combines vehicle environment data and the AEB enhancement mode to perform AEB control on the vehicle, including:

[0038] 310. Determine the distance between the vehicle and the obstacle based on the vehicle environment data;

[0039] 320. If the distance between the vehicle and the obstacle is less than a second distance preset threshold, power control is performed on the vehicle;

[0040] 330. If the distance between the vehicle and the obstacle is less than a first distance preset threshold, braking control is performed on the vehicle;

[0041] 340. If the distance between the vehicle and the obstacle is not less than a second distance preset threshold, and the steering and gear position of the vehicle are opposite to the direction of the obstacle, cancel the power control or braking control caused by the current dangerous event.

[0042] Specifically, it includes: obtaining the distance between the vehicle and the obstacle based on the data information collected by the vehicle environment perception sensor, and judging the distance between the vehicle and the obstacle relative to a preset distance threshold; if the distance between the vehicle and the obstacle is less than a second preset distance threshold, that is, the vehicle is close to the obstacle and there is a risk of collision, then the vehicle power is controlled to weaken or shut down the vehicle power output, or the vehicle steering and gear are changed to maintain a safe distance from the obstacle.

[0043] If the distance between the vehicle and the obstacle is less than a first distance preset threshold, that is, the vehicle is about to collide with the obstacle or has already collided with the obstacle, the vehicle is braked and emergency braking is performed to avoid or reduce losses caused by the collision.

[0044] If the distance between the vehicle and the obstacle is not less than a second distance preset threshold, and the vehicle steering and gear are opposite to the direction of the obstacle, where the vehicle steering includes left turn and right turn, and the vehicle gear includes forward gear and reverse gear, for example, the obstacle is in the left front of the vehicle, the vehicle is in the right steering and forward gear, the obstacle is in the left rear of the vehicle, the vehicle is in the right steering and reverse gear, that is, the route direction generated by the vehicle steering and gear is opposite to the direction of the obstacle, and the vehicle will not collide with the obstacle if it continues to drive, then the power control or braking control caused by the current dangerous event is automatically canceled; if the obstacle is in the left front of the vehicle, the vehicle is in the left steering and forward gear, the obstacle is in the left rear of the vehicle, the vehicle is in the left steering and reverse gear, that is, the route direction generated by the vehicle steering and gear is the same as the direction of the obstacle, and the vehicle will collide with the obstacle if it continues to drive, then the environmental perception sensor continuously monitors the vehicle environmental data to prevent the risk of collision.

[0045] If the distance between the vehicle and the obstacle is greater than the second preset distance threshold and less than the third preset distance threshold, that is, the vehicle is close to the obstacle, but there is a certain distance, and no emergency braking is required, the danger warning is automatically turned on to inform the driver of the risk of collision and remind the driver to take active measures in advance. Among them, the first preset distance threshold is less than the second preset distance threshold, and the second preset distance threshold is less than the third preset distance threshold. The preset distance threshold is related to the current vehicle speed. For example, if the vehicle speed is above 100km / h, the first preset distance threshold can be 30 meters, the second preset distance threshold can be 50 meters, and the third preset distance threshold can be 100 meters.

[0046] In special circumstances or when extreme driving is required, the AEB mode can be switched to basic mode or the physical button can be manually pressed to cancel the limitations of the current AEB enhanced mode. For example, according to the actual situation, the distance between the garage and the wall is only 10 centimeters, and the vehicle cannot be reversed into the garage in the current AEB enhanced mode. In this case, you need to manually press the physical button to cancel the current AEB enhanced mode and switch to the AEB basic mode.

[0047] In a specific embodiment, the current vehicle speed is determined based on the vehicle environment data detected by the sensor; the first distance preset threshold, the second distance preset threshold and the third distance preset threshold are determined based on the current vehicle speed; if the vehicle speed is within the basic AEB vehicle speed range, the current AEB enhanced mode is automatically canceled, and in special circumstances or when extreme driving is required, the current AEB enhanced mode is manually canceled by pressing a physical button, and the AEB basic mode takes over. Among them, when the vehicle speed is above 100km / h, the first distance preset threshold can be 30 meters, the second distance preset threshold can be 50 meters, and the third distance preset threshold can be 100 meters.

[0048] Environmental perception sensors include: on-board cameras, ultrasonic radars, millimeter-wave radars, laser radars, and infrared imaging cameras. Among them, on-board cameras can be divided into monocular, binocular, and multi-cameras. The perception dimensions of the target object increase gradually, and the perception judgment is more accurate. Ultrasonic radar measures the distance between the vehicle and the obstacle by measuring the round-trip time of the ultrasonic wave. Millimeter-wave radar uses the detection wave in the millimeter-wave frequency band to calculate the relative distance, relative speed, angle, direction of movement and other data of the target based on the time difference between transmission and reception. Laser radar mainly uses laser beams to calculate the variable distance from the object to the target surface, and obtains multiple parameters such as the target distance, direction, height, speed, posture, shape, etc. Infrared imaging cameras can accurately identify pedestrians and obstacles within hundreds of meters all day and all day. The raw data collected by various on-board sensors is analyzed and processed by algorithms to obtain the surrounding environment of the vehicle and the vehicle's operating status.

[0049] In addition to automatically activating the AEB enhanced mode according to the vehicle's operating status, the driver can also manually turn the AEB enhanced mode on or off as needed. For example, if the AEB enhanced mode is manually turned on before starting the vehicle, AEB control can be performed on the vehicle during starting, driving and parking, reducing the risk of collision when the vehicle starts and stops at low speeds and drives at high speeds; if the AEB enhanced mode is manually turned on before reversing, AEB control can be performed on the vehicle during reversing, reducing the risk of collision when reversing; in an emergency situation, such as when the driver suffers from sudden fainting, heart disease, convulsions or other diseases, or is under mental tension and is prone to continuous misoperation, the AEB enhanced mode can be manually turned on, and AEB will be in a continuous intervention state to protect certain misoperations.

[0050] The driver can automatically activate the AEB enhanced mode when the vehicle starts or based on the results of vehicle environmental data analysis as needed. The driver can automatically turn off the AEB enhanced mode when the vehicle stops or manually turn off the AEB enhanced mode as needed.

[0051] In the specific implementation, if the vehicle is judged to be in high speed, low speed, reversing state or emergency state, and the emergency state includes the vehicle being obviously out of control, the AEB enhanced mode will be automatically activated and kept activated; the environmental perception sensor continues to monitor the current real-time environmental data of the vehicle; the vehicle operation status and dangerous events are determined based on the real-time environmental data; the vehicle is powered or braked according to the currently monitored dangerous events; the power control or brake control caused by the current dangerous event is automatically canceled after the current dangerous event is handled, and the vehicle is continuously monitored for possible dangerous events and AEB control is performed. For example, if the current monitored dangerous event 1 is that the vehicle has a risk of collision with a pedestrian, the speed will be reduced or the steering will be turned. After the vehicle and the pedestrian meet the safety distance, the power control caused by dangerous event 1 will be automatically canceled. The vehicle continues to monitor the real-time environmental data to monitor whether there is another dangerous event. If the monitored dangerous event 2 is that the vehicle speed is 150km / h and the distance to the front vehicle is less than 100 meters, the speed will be reduced until the safety distance is met, and the power control caused by dangerous event 2 will be automatically canceled.

[0052] Figure 4 FIG. 1 shows a schematic diagram of the structure of a vehicle AEB control device provided by an embodiment of the present invention. Figure 4 As shown, the vehicle AEB device of this embodiment includes: an environment perception module, an enhancement module and a control module.

[0053] Environmental perception module, used to continuously monitor vehicle environmental data;

[0054] Enhancement module, used to enable AEB enhancement mode based on vehicle environment data;

[0055] A control module is used to perform AEB control on the vehicle in combination with vehicle environment data and the AEB enhancement mode.

[0056] Figure 5 FIG. 2 shows a schematic diagram of the structure of a vehicle AEB control device provided by another embodiment of the present invention. Figure 5 As shown, the vehicle AEB control device of this embodiment includes: an environmental perception sensor, a calculation decision-making mechanism, an execution mechanism and a physical cancel button.

[0057] Environmental perception sensors, including but not limited to monocular cameras, binocular cameras, ultrasonic radars, millimeter-wave radars, lidars, infrared imaging cameras and other sensors;

[0058] The computing and decision-making unit is used to process the data collected by the environmental perception sensor and generate decisions to be sent to the execution unit to control the vehicle's motion state;

[0059] The execution unit is used for vehicle power control and brake control, which can reduce vehicle power or shut down power output and emergency braking in emergency situations;

[0060] The physical cancel button is used to turn on the enhanced AEB mode, or when AEB is triggered in certain situations, the vehicle power and braking will be limited. The driver manually confirms and cancels the current AEB restriction.

[0061] Since the above device is based on the control method, the working principle of the device is the same as that of the above control method, which will not be repeated here.

[0062] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

[0063] Those skilled in the art will appreciate that the foregoing embodiments are merely intended to illustrate the technical solutions of the present invention rather than to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that the technical solutions described in the foregoing embodiments may be modified or some or all of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope defined by the claims of the present invention.

Claims

1. A vehicle AEB control method, characterized in that: Continuously monitor vehicle environmental data; activating an AEB enhancement mode according to the vehicle environment data, wherein the AEB enhancement mode remains activated; AEB control is performed on the vehicle in combination with the vehicle environment data and the AEB enhancement mode.

2. The vehicle AEB control method according to claim 1, characterized in that: It also includes an AEB basic mode, and the AEB enhanced mode and the AEB basic mode work in succession with each other.

3. The vehicle AEB control method according to claim 1, characterized in that: The activating the AEB enhancement mode according to the vehicle environment data comprises: Determine the vehicle running state according to the vehicle environment data, wherein the vehicle running state includes a low speed state, a high speed state, a reverse state and an emergency state; The AEB enhanced mode is automatically activated according to the vehicle operating status.

4. The vehicle AEB control method according to claim 1, characterized in that: The combining the vehicle environment data and the AEB enhancement mode to perform AEB control on the vehicle includes: determining a dangerous event according to the vehicle environment data; In the AEB enhanced mode, the vehicle is powered or braked according to the dangerous event; If the dangerous event is resolved, the power control or braking control caused by the current dangerous event will be canceled.

5. The vehicle AEB control method according to claim 2, characterized in that: The combining the vehicle environment data and the AEB enhancement mode to perform AEB control on the vehicle includes: Determining the distance between the vehicle and the obstacle according to the vehicle environment data; If the distance between the vehicle and the obstacle is less than the second distance preset threshold, power control is performed on the vehicle; If the distance between the vehicle and the obstacle is less than the first distance preset threshold, braking the vehicle; If the distance between the vehicle and the obstacle is not less than the second distance preset threshold, and the steering and gear position of the vehicle are opposite to the direction of the obstacle, the power control or braking control caused by the current dangerous event is canceled.

6. The vehicle AEB control method according to claim 5, characterized in that: Also includes: If the distance between the vehicle and the obstacle is greater than the second distance preset threshold and less than the third distance preset threshold, the danger warning is automatically activated.

7. The vehicle AEB control method according to claim 6, characterized in that: Also includes: determining a current vehicle speed according to the vehicle environment data; Determine the first distance preset threshold, the second distance preset threshold, and the third distance preset threshold according to the current vehicle speed; If the current vehicle speed is within the AEB basic mode speed range, the current AEB enhanced mode is automatically canceled.

8. The vehicle AEB control method according to claim 1, characterized in that: It also includes environmental perception sensors, which include: vehicle-mounted cameras, ultrasonic radars, millimeter-wave radars, lidars and infrared imaging cameras.

9. The vehicle AEB control method according to claim 1, characterized in that: Also includes: Manually turn on or off the AEB enhancement mode as needed.

10. A vehicle AEB control device, characterized in that: Environmental perception module, used to continuously monitor vehicle environmental data; an activation module, configured to activate an AEB enhancement mode according to the vehicle environment data, wherein the AEB enhancement mode remains activated; A control module is used to perform AEB control on the vehicle in combination with the vehicle environment data and the AEB enhancement mode.

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