Automatic emergency braking control method and device based on black spot technology and vehicle

Abstract

The invention discloses an automatic emergency braking control method and device based on a black spot technology and a vehicle. When the vehicle enters a black spot area, the vehicle obtains an optimal active braking parameter to correct the active braking parameter of the vehicle, and automatic emergency braking is executed based on the corrected active braking parameter; the method for obtaining the optimal active braking parameters comprises the following steps: dynamically delimiting a black spot area according to multi-dimensional data when emergency braking of each vehicle is triggered; obtaining the multi-dimensional data in the black spot area; and obtaining the optimal active braking parameters based on the vehicle speed, deceleration fluctuation, braking distance, vehicle weight and environment information during emergency braking. And the optimal active braking parameter when emergency braking is triggered in the black spot area is obtained. According to the method, the black spot technology is combined, the black spot area is established, ADAS program upgrading is conducted on the vehicle entering the black spot area, the vehicle can better adapt to the vehicle condition and the road condition in the area, the active braking curve is optimized, the comfort degree is improved, the situation that braking is not stopped after the automatic emergency braking function is triggered is reduced, and safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of assisted driving, and in particular to an automatic emergency braking control method, device and vehicle based on black spot technology. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] With the development of society and the increase in the number of vehicles, the increasingly serious road safety issues have received more and more attention. Assisted driving technology has emerged. With the research and application of this technology, it is now possible to realize functions such as adaptive cruise control, lane keeping, automatic emergency braking, collision warning, and time distance warning, which provide a certain degree of protection for road safety on the vehicle side. However, the assisted driving system mainly relies on hardware devices such as cameras and radar sensors as perception systems, and the ADAS (Advanced Driver Assistance System) controller as a decision-making system, which also involves the identification and fusion of target objects, environmental conditions, and target object movement, so its performance will be affected by various factors.

[0004] The automatic emergency braking function is related to vehicle safety, road safety, and life safety. As safety management requirements become increasingly stringent, the automatic emergency braking function needs to be studied more deeply. The automatic emergency braking function is implemented by the perception system sensing the target object, outputting the target object's status information, and the ADAS controller receives the information to make decisions and sends a response command to the vehicle. Therefore, the deceleration of the vehicle is the same under the same relative speed and the same distance. There is definitely no problem under normal working conditions, but it will be affected by weather conditions, whether the road surface is slippery, the load of the vehicle, etc., which may cause the vehicle to stop braking or the braking distance to be too long.

[0005] Collision time TTC is an important input parameter of the automatic emergency braking function. In conventional assisted driving systems, the emergency braking function is triggered using a fixed TTC value. When road conditions are inconsistent, the original parameter settings will be executed and the parameters will not be adjusted according to the surrounding environment. Summary of the invention

[0006] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides an automatic emergency braking control method, device and vehicle based on black spot technology, which effectively solves the problem that the automatic emergency braking function cannot brake in special circumstances and special road sections by networking the ADAS controller and integrating it with the black spot technology.

[0007] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0008] In a first aspect, the present invention provides an automatic emergency braking control method based on black spot technology, comprising:

[0009] When the vehicle enters the black spot area, the vehicle obtains the best active braking parameters to correct its own active braking parameters, and performs automatic emergency braking based on the corrected active braking parameters;

[0010] The steps of obtaining the optimal active braking parameters are:

[0011] Dynamically delineate black spot areas based on multi-dimensional data when each vehicle triggers emergency braking:

[0012] The multi-dimensional data in the black spot area is obtained, and based on the vehicle speed, deceleration fluctuation, braking distance, vehicle load and environmental information during emergency braking, the optimal active braking parameters when emergency braking is triggered in the black spot area are obtained.

[0013] A further technical solution is to establish an information database, and each vehicle controller uploads the multi-dimensional data when the vehicle triggers emergency braking to the information database for storage.

[0014] According to a further technical solution, the multi-dimensional data includes vehicle information, target object information, environmental information and vehicle response information; the environmental information includes trigger position, trigger time, road conditions and weather; the vehicle response information includes vehicle load, active braking time, deceleration, braking distance and stopping distance.

[0015] A further technical solution for dynamically defining black spot areas is as follows:

[0016] The initial circular area is generated with the trigger position of the first emergency braking trigger event as the center and the set distance as the radius;

[0017] After each subsequent emergency brake is triggered, the center of the circle is updated according to the trigger position and the center area of ​​the circle is regenerated;

[0018] When the number of emergency brake triggering in the center area exceeds the set threshold, the current circular area is demarcated as a black dot area.

[0019] According to a further technical solution, the optimal active braking parameters include an optimal function-triggered collision time and an optimal execution deceleration.

[0020] According to a further technical solution, the calculation formula for executing the deceleration is:

[0021] a x =a 1 *a 2 *a 3 *a 4 *a

[0022] Among them, a x To perform deceleration, a 1 is the vehicle speed coefficient, a 2 is the load factor, a 3 is the volatility coefficient, a 4 is the environmental coefficient, and a is the theoretical deceleration of the vehicle.

[0023] A further technical solution is to obtain the optimal active braking parameters when emergency braking is triggered in the black spot area based on the vehicle speed, deceleration fluctuation, braking distance, vehicle load and environmental information during emergency braking. Specifically, the vehicle speed is analyzed and adjusted to the speed coefficient, the vehicle load is analyzed and adjusted to the load coefficient, the deceleration fluctuation is analyzed and adjusted to the fluctuation coefficient, and the environmental information is analyzed and adjusted to the environmental coefficient. After performing the above adjustments respectively, the optimal execution deceleration is calculated.

[0024] A further technical solution is to analyze the braking distance and adjust the function-triggered collision time to obtain the optimal function-triggered collision time.

[0025] In a second aspect, the present invention provides an automatic emergency braking control device, comprising:

[0026] Memory for storing computer programs;

[0027] A processor is used to implement the steps of an automatic emergency braking control method based on black spot technology as described in the first aspect when executing the computer program.

[0028] In a third aspect, the present invention provides a vehicle, comprising an automatic emergency braking control device as described in the second aspect.

[0029] One or more of the above technical solutions have the following beneficial effects:

[0030] As the main function of assisted driving technology, the automatic emergency braking function AEB is affected by non-fixed conditions such as weather, road surface, and vehicle load, and it is inevitable that the vehicle cannot stop. The present invention aims to solve the problem that the automatic emergency braking function cannot stop in such special conditions and special road sections, and provide a more intelligent automatic emergency braking method. The present invention combines black spot technology to establish a black spot area, and upgrades the ADAS program of vehicles entering the black spot area, that is, obtains the best active braking parameters, so that it can better adapt to the vehicle and road conditions in the area, reduce the situation of braking continuously after triggering the emergency braking function, optimize the active braking curve, improve comfort, reduce the situation of braking continuously after triggering the automatic emergency braking function, and improve safety.

[0031] The present invention solves the problem of inadequate braking and poor braking comfort caused by fixed parameters in traditional emergency braking systems, significantly improving safety and user experience in complex scenarios. It also conducts targeted optimization for accident-prone areas, realizing personalized and scenario-based emergency automatic optimization. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0033] Figure 1 is a structural diagram of an automatic emergency braking control method according to an embodiment of the present invention;

[0034] Figure 2 4 is a flow chart of an automatic emergency braking control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0037] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0038] Embodiment 1

[0039] like Figure 1 As shown, this embodiment discloses an automatic emergency braking control method based on black spot technology, and the method includes the following steps:

[0040] S1: Establish an information database to store multi-dimensional data when the vehicle triggers emergency braking;

[0041] In this embodiment, an information database is established, and the ADAS controller (Advanced Driver Assistance System Controller) is connected to the Internet through vehicle communication technology, and each vehicle with automatic emergency braking function realizes real-time data interaction with the information database. The ADAS controller uploads multi-dimensional data when the vehicle triggers emergency braking to the information database, including vehicle information, target information, environmental information, and vehicle response information.

[0042] Specifically, vehicle information includes brake pedal status and vehicle load; target object information includes target object confidence (target object confidence is used to describe the degree of reliability of the camera's recognition of the target object, ranging from 0%-100%, and the clearer the target object recognized by the camera, the higher the confidence), the lane where the target object is located, the target object's lateral relative speed, the target object's longitudinal relative speed, the target object's lateral relative distance, the target object's longitudinal relative distance, the fusion status of the camera and radar recognition of the target object, and the collision time; environmental information includes event trigger location, trigger time, road material, whether the road is flooded or snowy, and weather conditions; vehicle response information includes vehicle load, active braking time, deceleration, braking distance, and braking distance.

[0043] When the vehicle is running, the perception system will send environmental data and target data to the ADAS controller. After the automatic emergency braking function is triggered, there will be vehicle response data, and the environment, target, and response data before and after braking will be uploaded. The multi-dimensional data when the emergency braking is triggered is the basis for data analysis and system upgrades.

[0044] S2: Dynamically define the black spot area based on the multi-dimensional data of each vehicle triggering emergency braking in the information database;

[0045] Road blackspot areas refer to accident-prone points, sections or areas in the road system over a longer period of time.

[0046] The dynamic demarcation of the black spot area is specifically as follows: taking the trigger position of the first emergency braking trigger event as the center of the circle and setting the distance as the radius, an initial circular area is generated; after each subsequent emergency braking trigger, the center of the circle is updated according to the trigger position, and the center area of ​​the circle is regenerated; when the number of emergency braking triggers in the center area of ​​the circle exceeds the set threshold, the current circular area is demarcated as a black spot area.

[0047] Specifically, the emergency braking trigger time is used as a line to define each emergency braking trigger event, and the clustering algorithm and Bayesian optimization algorithm are used to identify black spots and draw black spot areas. The clustering algorithm is used to dynamically adjust the center position of the circle, and the Bayesian optimization algorithm is used to tune key parameters, including the initial radius and threshold.

[0048] The specific steps are: take the coordinates of the first emergency braking position as the center of the circle, set the distance radius, and circle the circular area. After the second emergency braking trigger event occurs, take the midpoint of the two positions as the center of the circle and re-circle the circular area. After the third emergency braking trigger event occurs, circle the circular area with the center of the circumscribed circle of the three events as the center. As the number of emergency braking trigger events increases, the area of ​​the circular area is fixed, and more emergency braking trigger events are circled. The number of emergency braking triggers in the area is counted. When the number exceeds the set threshold, the area is identified as a black spot area.

[0049] S3: Acquire multi-dimensional data in the black spot area, and obtain the optimal active braking parameters when emergency braking is triggered in the black spot area based on the vehicle speed, deceleration fluctuation, braking distance, vehicle load and environmental information during emergency braking;

[0050] In this implementation, before performing data analysis, it is necessary to have a certain understanding of the implementation of the automatic emergency braking function. Here is a brief description of the triggering emergency braking judgment conditions and responses.

[0051] Triggering emergency braking judgment conditions: When the target object appears, the camera and radar capture the target object, fuse them according to the position, and output the target object information to the ADAS controller. The main judgment formula is:

[0052] |d Y +v Y *T TTC |≤d car

[0053] Among them, d Y is the lateral relative distance between the vehicle and the target object, v Y is the lateral relative velocity between the vehicle and the target object, T TTC is the longitudinal collision time with the target object at the current vehicle speed, d car is the distance between the camera and the edge of the vehicle.

[0054] If the above formula is satisfied, it means that the vehicle and the target object will collide without external force intervention. At this time, set the function to trigger the collision time T a , that is, the longitudinal collision time T with the target object at the current vehicle speed TTC Less than or equal to T a When T a is one of the optimization parameters and is a threshold. TTC When the vehicle speed is lower than this threshold, the automatic emergency braking function is triggered.

[0055] Vehicle response after automatic emergency braking is triggered:

[0056] After the automatic emergency braking function is triggered, the ADAS program responds:

[0057]

[0058] Among them, a is the theoretical deceleration of the vehicle, v is the speed of the vehicle, and v 0 is the longitudinal velocity of the target, d x is the longitudinal relative distance between the vehicle and the target object, d 0 The theoretical stopping distance.

[0059] The theoretical deceleration can be calculated according to the formula. When the automatic emergency braking function is triggered, it responds according to the theoretical deceleration. The entire braking process may be unstable. Therefore, in actual situations, factors such as vehicle speed, deceleration fluctuation, braking distance, and environmental factors must be considered to optimize the actual deceleration and increase the deceleration coefficient:

[0060] a x =a 1 *a 2 *a 3 *a 4 *a

[0061] Among them, a x To perform deceleration, a 1 is the vehicle speed coefficient (the coefficient for adjusting the deceleration according to the vehicle speed), a 2 is the load factor (the factor for adjusting the deceleration according to the vehicle load), a 3 is the fluctuation coefficient (deceleration fluctuation optimization coefficient), a 4 is the environmental coefficient (the coefficient for adjusting the deceleration according to environmental information), and a is the theoretical deceleration of the vehicle.

[0062] In the cloud server or local server, the multi-dimensional data in the information database is analyzed, including the vehicle condition (vehicle speed and vehicle load), deceleration fluctuation, environmental factors, and braking distance:

[0063] (1) Analyze the vehicle's condition, including its speed and load. When the vehicle's speed is low, a smaller deceleration should be applied. When the vehicle's speed is high, a larger deceleration should be applied. The adjustment coefficient a 1 When the vehicle load exceeds the standard load, the deceleration should be increased and the adjustment coefficient a 2 , so that the brakes can be applied smoothly and the stability of the vehicle can be ensured.

[0064] (2) The actual deceleration process of the vehicle when the automatic emergency brake is triggered. From the perspective of braking stability, check whether the deceleration during the braking process fluctuates greatly and whether the minimum deceleration executed is small. When the fluctuation is large and the deceleration is small, there will be a strong sense of frustration during the execution process. At this time, it is necessary to use coefficient a 3 Adjust the deceleration amount.

[0065] (3) Analyze the environmental information when automatic emergency braking is triggered, including weather and road conditions. Foggy and rainy days will affect the camera's recognition ability, and water and snow on the road will reduce road friction, resulting in the brakes not being able to stop. In this case, the coefficient a is needed. 4 Increase the deceleration to get greater braking force. In other words, when the road friction is low, increase the active braking parameter value, analyze the response process braking curve, reduce the curve fluctuation and smooth the curve.

[0066] (4) The stopping distance is the distance between the vehicle and the target object when the vehicle stops. If the stopping distance is too long, it means that the emergency brake is triggered. a If the setting is too large or the deceleration is too small, and the braking distance is too short, it means that the emergency brake is triggered. a If the setting is too small or the deceleration is too large, T should be readjusted. a That is to say, when the braking distance is long, the function triggering collision time is reduced, and when the braking distance is short, the function triggering collision time is increased.

[0067] According to the above speed coefficient a 1 , load factor a 2 , coefficient of fluctuation a 3 、Environmental coefficient a 4 The optimal execution deceleration is calculated based on the analysis and adjustment, and the optimal function triggering collision time is obtained based on the analysis and adjustment of the above braking distance.

[0068] For specific values, please refer to the following table:

[0069]

[0070]

[0071] S4: When the vehicle enters the black spot area, the vehicle uploads multi-dimensional data in the black spot area (such as vehicle condition information and environmental information) to obtain the best active braking parameters, corrects its own active braking parameters, and performs automatic emergency braking based on the corrected active braking parameters. At the same time, the vehicle instrument receives the ADAS controller command and issues a voice prompt "You have entered the black spot area", giving the driver a voice prompt.

[0072] In this embodiment, based on the analysis results of multi-dimensional data, the optimal active braking parameters when emergency braking is triggered in the black spot area can be obtained. When the vehicle enters this area, the ADAS controller automatically upgrades the program through OTA technology, that is, obtains the optimal active braking parameters so that the vehicle can make the smoothest active braking response when emergency braking is triggered.

[0073] The optimal active braking parameters include the optimal function-triggered collision time and the optimal execution deceleration. The optimal function-triggered collision time is obtained based on the braking distance analysis, and the optimal execution deceleration is calculated based on various deceleration coefficients.

[0074] Embodiment 2

[0075] This embodiment discloses an automatic emergency braking control device, comprising:

[0076] Memory for storing computer programs;

[0077] A processor is used to implement the steps of an automatic emergency braking control method based on black spot technology as described in Example 1 when executing the computer program.

[0078] Embodiment 3

[0079] This embodiment discloses a vehicle, including an automatic emergency braking control device as described in the second embodiment.

[0080] The steps involved in the apparatus of the above embodiment 2 correspond to the method embodiment 1. For the specific implementation, please refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method of the present invention.

[0081] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0083] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. An automatic emergency braking control method based on black spot technology, characterized in that: include: When the vehicle enters the black spot area, the vehicle obtains the best active braking parameters to correct its own active braking parameters, and performs automatic emergency braking based on the corrected active braking parameters; The steps of obtaining the optimal active braking parameters are: Dynamically delineate black spot areas based on multi-dimensional data when each vehicle triggers emergency braking: The multi-dimensional data in the black spot area is obtained, and based on the vehicle speed, deceleration fluctuation, braking distance, vehicle load and environmental information during emergency braking, the optimal active braking parameters when emergency braking is triggered in the black spot area are obtained.

2. The automatic emergency braking control method based on black spot technology as claimed in claim 1, characterized in that: An information database is established, and each vehicle controller uploads the multi-dimensional data when the vehicle triggers emergency braking to the information database for storage.

3. The automatic emergency braking control method based on black spot technology as claimed in claim 1, characterized in that: The multi-dimensional data includes vehicle information, target information, environmental information and vehicle response information; the environmental information includes trigger location, trigger time, road conditions and weather; the vehicle response information includes vehicle load, active braking time, deceleration, braking distance and stopping distance.

4. The automatic emergency braking control method based on black spot technology as claimed in claim 1, characterized in that: The dynamic black spot area is specifically defined as follows: The initial circular area is generated with the trigger position of the first emergency braking trigger event as the center and the set distance as the radius; After each subsequent emergency brake is triggered, the center of the circle is updated according to the trigger position and the center area of ​​the circle is regenerated; When the number of emergency brake triggering in the center area exceeds the set threshold, the current circular area is demarcated as a black dot area.

5. The automatic emergency braking control method based on black spot technology as claimed in claim 1, characterized in that: The optimal active braking parameters include optimal function triggering collision time and optimal execution deceleration.

6. The automatic emergency braking control method based on black spot technology as claimed in claim 5, characterized in that: The calculation formula for executing deceleration is: <h2 style=";text-align:left;direction:ltr">a<h2 style=";text-align:left;direction:ltr"> x <h2 style=";text-align:left;direction:ltr"> =a1*a2*a3*a4*a Among them, a x is the execution deceleration, a1 is the vehicle speed coefficient, a2 is the load coefficient, a3 is the fluctuation coefficient, a4 is the environmental coefficient, and a is the theoretical deceleration of the vehicle.

7. The automatic emergency braking control method based on black spot technology as claimed in claim 6, characterized in that: Based on the vehicle speed, deceleration fluctuation, braking distance, vehicle load and environmental information during emergency braking, the optimal active braking parameters when triggering emergency braking in the black spot area are obtained: the speed coefficient is adjusted by analyzing the vehicle speed, the load coefficient is adjusted by analyzing the vehicle load, the fluctuation coefficient is adjusted by analyzing the deceleration fluctuation, and the environmental coefficient is adjusted by analyzing the environmental information. After making the above adjustments respectively, the optimal execution deceleration is calculated.

8. The automatic emergency braking control method based on black spot technology as claimed in claim 5, characterized in that: The braking distance is analyzed and adjusted to trigger the collision time to obtain the optimal collision time.

9. An automatic emergency brake control device, characterized in that: include: Memory for storing computer programs; A processor, used to implement the steps of an automatic emergency braking control method based on black spot technology as described in any one of claims 1-8 when executing the computer program.

10. A vehicle, characterized in that: Comprising an automatic emergency brake control device as claimed in claim 9.

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