Vehicle obstacle avoidance method and device, control equipment and vehicle

Abstract

The invention relates to the field of vehicle control, and provides a vehicle obstacle avoidance method and device, control equipment and a vehicle. The vehicle obstacle avoidance method comprises the steps that if a vehicle is in a preset scene, a preset triggering threshold value used for triggering vehicle braking is adjusted, and preset deceleration when the vehicle executes braking is adjusted; and if it is determined that the vehicle meets the braking condition based on the adjusted triggering threshold value, the vehicle is braked based on the adjusted deceleration. According to the method, the triggering threshold value and the braking deceleration of the braking function can be automatically adjusted, and the driving safety is improved while the performance of automatic braking in an emergency scene is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly to a vehicle obstacle avoidance method, device, control device and vehicle. Background Art

[0002] Currently, the Automated Emergency Braking (AEB) system has been widely applied to various brand models and plays an important role in improving driving safety. In order to ensure a very low false trigger level of the AEB system on public roads, the trigger conditions of the AEB system are set rigorously and designed based on the principle of preferring missed triggers to false triggers. Therefore, this design also affects the full play of the collision avoidance performance of the AEB system. Summary of the Invention

[0003] In view of the above, it is necessary to provide a vehicle obstacle avoidance method, device, control device and vehicle, which can fully improve the collision avoidance performance of the AEB system.

[0004] In a first aspect, the present application provides a vehicle obstacle avoidance method, including: if it is determined that the vehicle is in a preset scenario, adjusting a preset trigger threshold for triggering the vehicle to brake and adjusting a preset deceleration when the vehicle executes braking; and based on the adjusted trigger threshold, when it is determined that the vehicle meets the braking condition, implementing braking on the vehicle based on the adjusted deceleration.

[0005] In some embodiments of the present application, the method further includes: obtaining sensing information of a sensor of the vehicle; determining whether the vehicle is in the preset scenario according to the sensing information, including: if the scenario where the vehicle is located includes a first object and a second object, and the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle respectively meet corresponding conditions, determining that the vehicle is in the preset scenario; if the scenario where the vehicle is located does not include the first object or the second object, or any one of the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle does not meet the corresponding condition, determining that the vehicle is not in the preset scenario.

[0006] In some embodiments of the present application, the second object includes an adjacent vehicle of the vehicle; the first object includes an object approaching the vehicle from the direction where the second object is located.

[0007] In some embodiments of the present application, the relevant parameters of the first object satisfying the corresponding conditions include: the absolute value of the lateral speed of the first object is greater than a first preset speed, the duration for which the first object is continuously detected is less than a preset duration, the absolute value of the first lateral distance between the first object and the vehicle is less than a first preset distance, and the absolute value of the first longitudinal distance between the first object and the vehicle is less than a second preset distance; the relevant parameters of the second object satisfying the corresponding conditions include: the absolute value of the second lateral distance between the second object and the vehicle belongs to a preset first distance range, the absolute value of the second longitudinal distance between the second object and the vehicle belongs to a preset second distance range, the absolute value of the difference between the first longitudinal distance and the second longitudinal distance belongs to a preset third distance range, and the absolute value of the difference between the first lateral distance and the second lateral distance belongs to a preset fourth distance range; the relevant parameters of the vehicle satisfying the corresponding conditions include: the vehicle is in a straight - running state, the driving speed of the vehicle is less than a second preset speed, and the yaw rate of the vehicle is less than a preset value.

[0008] In some embodiments of the present application, the method further includes: if it is determined that the scene where the vehicle is located is not the preset scene, neither adjusting the preset trigger threshold for triggering the vehicle to brake nor adjusting the preset deceleration when the vehicle executes braking.

[0009] In some embodiments of the present application, the trigger threshold for triggering the vehicle to brake includes a duration threshold for which a risk target is continuously detected and a time - to - collision (TTC) threshold for the vehicle and the risk target to be expected to collide; wherein, adjusting the preset trigger threshold for triggering the vehicle to brake and adjusting the preset deceleration when the vehicle executes braking includes: determining an adjusted duration threshold based on the duration threshold for which the risk target is continuously detected and a first preset multiple; determining an adjusted TTC threshold based on the TTC threshold and a second preset multiple; and determining an adjusted deceleration based on the preset deceleration when the vehicle executes braking and a third preset multiple.

[0010] In some embodiments of the present application, the method further includes: if it is determined that the scene where the vehicle is located is the preset scene, determining the first object as a risk target; and if the duration for which the first object is continuously detected is greater than the adjusted duration threshold and the time - to - collision (TTC) between the vehicle and the first object is less than the adjusted TTC threshold, determining that the vehicle meets the braking conditions.

[0011] In a second aspect, the present application provides a vehicle obstacle avoidance device, including: an adjustment module configured to adjust a preset trigger threshold for triggering braking of the vehicle and adjust a preset deceleration when the vehicle performs braking if it is determined that the vehicle is in a preset scenario; and a control module configured to, based on the adjusted trigger threshold, implement braking on the vehicle based on the adjusted deceleration when it is determined that the vehicle meets the braking conditions.

[0012] In a third aspect, the present application provides a control device, including: a memory storing computer-readable instructions; and a processor configured to execute the computer-readable instructions to implement the vehicle obstacle avoidance method as described in the first aspect.

[0013] In a fourth aspect, the present application provides a vehicle, where the vehicle includes the control device described in the third aspect.

[0014] It can be seen from the above technical solutions that in the present application, when it is determined that the vehicle is in a preset scenario, the preset trigger threshold for triggering vehicle braking is adjusted and the preset deceleration when the vehicle performs braking is adjusted; and when it is determined that the vehicle meets the braking conditions based on the adjusted trigger threshold, braking is implemented on the vehicle based on the adjusted deceleration, so that the trigger threshold and braking deceleration of the automatic braking function of the automatic emergency braking (AEB) system can be automatically adjusted, improving the performance of the automatic emergency braking in emergency scenarios such as the "ghost probe" scenario while enhancing driving safety. In addition, when it is not in an emergency scenario such as the "ghost probe" scenario, the present application does not adjust the trigger threshold and braking deceleration. Therefore, the present application optimizes on the basis of the automatic braking function of the original AEB system, which can not only ensure a low false triggering level of the automatic braking function of the AEB system, but also improve the automatic braking performance of the AEB system in emergency scenarios. Description of the Drawings Figure 1 is a schematic structural diagram of the control device provided by an embodiment of the present application.

[0015] Figure 2 is a flowchart of the vehicle obstacle avoidance method provided by an embodiment of the present application.

[0016] Figure 3 is provided by an embodiment of the present application Figure 2 detailed flowchart of step 202 in

[0017] Figure 4 is provided by an embodiment of the present application Figure 2 detailed flowchart of step 203 in

[0018] Figure 5 is a functional module diagram of the vehicle obstacle avoidance device provided by an embodiment of the present application. Detailed Embodiments

[0019] In order to make the objectives, technical solutions, and advantages of this application clearer, the following provides a detailed description of this application with reference to the accompanying drawings and specific embodiments.

[0020] It should be noted that in this application, "at least one" means one or more, and "a plurality" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the description, claims, and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0021] In some embodiments of this application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0022] As Figure 1 shown, it is a schematic structural diagram of a control device provided by an embodiment of this application.

[0023] In some embodiments of this application, the vehicle 1 can achieve automatic braking through the control device 2 in an emergency scenario (such as a "ghost appearance" scenario). A "ghost appearance" is a typical traffic hazard scenario, usually referring to pedestrians, cyclists, or other traffic participants suddenly rushing out from a blind spot of vision or behind an obstacle (such as a parked vehicle, green belt, billboard, building corner, etc.), resulting in the driver not having enough time to react and being extremely likely to cause traffic accidents.

[0024] In some embodiments of this application, the control device 2 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored computer-readable instructions, and its hardware includes but is not limited to a microprocessor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0025] In some embodiments of the present application, the control device 2 may be an ADAS (Advanced Driver Assistance Systems) controller. In other embodiments of the present application, the control device 2 may also be an electronic device in different forms such as a mobile terminal or a computer device, and there is no limitation in practical applications.

[0026] In some embodiments of the present application, the control device 2 may be communicatively connected to one or more sensors 24 (two are schematically shown in the figure, and the actual number is not limited) installed on the vehicle 1 through a CAN (Controller Area Network) bus. The one or more sensors 24 may include, but are not limited to, sensing devices such as cameras, millimeter-wave radars, and ultrasonic sensors respectively installed at different positions of the vehicle. For example, the one or more sensors 24 may include a radar, an ultrasonic sensor, and an infrared sensor installed on the front bumper of the vehicle 1, a camera installed on the inner side of the front windshield of the vehicle 1, a radar installed on the rear bumper of the vehicle 1, a camera installed below or on the side of the outer rearview mirror of the vehicle 1, a lidar (LiDAR) installed on the roof of the vehicle 1, an ultrasonic sensor installed on the side of the vehicle body of the vehicle 1, a camera installed at the rear of the vehicle 1, etc. The installation positions of the sensors may be considered in combination with the model of the vehicle 1.

[0027] In some embodiments of the present application, the control device 2 may perform real-time detection on the road environment and risk targets in front of and around the vehicle 1 according to the sensing information of the one or more sensors 24. For example, the control device 2 may sense information such as the speed of the vehicle 1, the speed of the adjacent vehicle of the vehicle 1, the duration for which a surrounding object such as a pedestrian of the vehicle 1 is continuously detected by the sensor 24, the straight-line distance, lateral distance, longitudinal distance, lateral speed, and longitudinal speed between the vehicle 1 and other vehicles such as adjacent vehicles according to the sensing information of the one or more sensors 24. In some embodiments of the present application, the risk target may refer to an object that may be collided with by the vehicle 1.

[0028] In some embodiments of the present application, the one or more sensors 24 may further include a steering angle sensor and a wheel speed sensor. The control device 2 may determine whether the current driving state of the vehicle 1 is in a straight-ahead state according to the sensing information of the steering angle sensor. The control device 2 may also determine whether the vehicle 1 is turning according to the sensing information of the wheel speed sensor and then determine whether the current driving state of the vehicle 1 is in a straight-ahead state.

[0029] In some embodiments of the present application, one or more sensors 24 may further include a yaw rate sensor (such as a MEMS gyroscope) for measuring the rotational angular velocity of the vehicle 1 about the Z-axis. The control device 2 may utilize the yaw rate sensor to sense the yaw rate of the vehicle 1.

[0030] In some embodiments of the present application, one or more sensors 24 may further include a speed sensor for measuring the traveling speed of the vehicle 1.

[0031] In autonomous driving, the establishment of the coordinate systems of various sensors of the vehicle (such as cameras, lidars, millimeter-wave radars, ultrasonic sensors, etc.) is the basis for perception and positioning. Each sensor has its own local coordinate system, and through a unified vehicle coordinate system and precise coordinate transformation, the fusion of multi-sensor data can be achieved. This is prior art and will not be elaborated herein.

[0032] In some embodiments of the present application, the communication network of the control device 2 includes, but is not limited to: the Internet, wide area network, metropolitan area network, local area network, virtual private network (VPN), etc.

[0033] In some embodiments of the present application, the control device 2 includes, but is not limited to, a memory 22, a processor 23, and computer-readable instructions stored in the memory 22 and executable on the processor 23.

[0034] Those skilled in the art can understand that Figure 1 this is merely a simple example of the control device 2 and does not constitute a limitation on the control device 2. The control device 2 may include more or fewer components than those shown in the figure, or combine certain components, or different components. For example, the control device 2 may further include input / output devices, network access devices, buses, etc.

[0035] The processor 23 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or a processor, or any conventional processor, etc. The processor 23 is the operation core and control center of the control device 2, connecting various parts of the entire control device 2 through various interfaces and lines, and executing the operating system of the control device 2 and various installed application programs, program codes, etc.

[0036] The memory 22 may be an external memory and / or an internal memory of the control device 2. Further, the memory 22 may be a memory in a physical form, such as a memory module, a TF card (Trans-flash Card), etc.

[0037] The memory 22 in the control device 2 stores computer-readable instructions, and the processor 23 can execute the computer-readable instructions stored in the memory 22 to implement the method steps as Figures 2 to 4 shown.

[0038] As Figure 2 shown, it is a flowchart of the vehicle obstacle avoidance method provided by an embodiment of the present application. The vehicle obstacle avoidance method is applied to a control device (such as Figure 1 the control device 2 shown) and is used to automatically control the braking of the vehicle when the vehicle (which can also be referred to as the "host vehicle") travels to an emergency scenario. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.

[0039] 201. When the vehicle is traveling, the sensing information of the vehicle's sensors is obtained in real time.

[0040] In some embodiments of the present application, the control device can obtain the sensing information of one or more sensors installed on the vehicle in real time. The one or more sensors include sensing devices such as cameras, millimeter-wave radars, ultrasonic sensors, etc. For example, the one or more sensors may include radars, ultrasonic sensors, and infrared sensors installed on the front bumper of the vehicle, cameras installed on the inner side of the front windshield of the vehicle, radars installed on the rear bumper of the vehicle, cameras installed below or on the side of the outer rearview mirror of the vehicle, lidar (LiDAR) installed on the roof of the vehicle, ultrasonic sensors installed on the side of the vehicle body, cameras installed at the rear of the vehicle, etc. The one or more sensors may also include a steering angle sensor, a wheel speed sensor, a yaw rate sensor, a speed sensor, etc.

[0041] 202. Determine whether the vehicle is in a preset scenario according to the sensing information.

[0042] In some embodiments of the present application, if the scenario where the vehicle is located is a preset scenario, step 203 is executed. If the scenario where the vehicle is located is not a preset scenario, the control device continues to determine whether the vehicle is in a preset scenario according to the sensing information obtained in real time.

[0043] In some embodiments of the present application, the preset scenario is an emergency scenario, such as the so-called "ghost probe" scenario in the art, that is, a specific scenario where the vehicle may collide with a risk target.

[0044] In some embodiments of the present application, when it is determined according to the sensing information that the scene where the vehicle is located includes a first object and a second object, and the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle respectively meet the corresponding conditions, the control device determines that the scene where the vehicle is located is a preset scene.

[0045] In some embodiments of the present application, if the scene where the vehicle is located does not include the first object or the second object, or any one of the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle does not meet the corresponding conditions, the control device determines that the vehicle is not in the preset scene.

[0046] The method for determining the preset scene can specifically refer to the following introduction of Figure 3 it.

[0047] In some embodiments of the present application, the second object includes the adjacent vehicle of the vehicle, such as other vehicles parked on the left side or the right side of the lane where the vehicle is located. The first object includes an object approaching the vehicle from the direction where the second object is located, such as a pedestrian and / or a cyclist. In some embodiments of the present application, the control device can determine whether the first object is approaching the vehicle according to the change in the magnitude of the absolute value of the lateral distance between the first object determined by the sensing information of the sensor and the vehicle. For example, when the absolute value of the lateral distance between the first object sensed by the camera / radar at the front bumper and the vehicle gradually decreases, it can be determined that the first object is approaching the vehicle.

[0048] In some embodiments of the present application, when the scene where the vehicle is located is a preset scene, the control device can determine the first object as a risk target.

[0049] 203, adjust the preset trigger threshold for triggering vehicle braking and adjust the deceleration when the vehicle performs braking.

[0050] In some embodiments of the present application, the trigger threshold for triggering vehicle braking may refer to the parameter value for triggering the automatic braking function of the AEB (Automatic Emergency Braking) system. In some embodiments of the present application, the parameter values for triggering the automatic braking function of the AEB system include, but are not limited to, the duration threshold for continuously detecting the risk target, the time to collision (TTC) threshold between the vehicle and the risk target.

[0051] In some embodiments of the present application, when it is determined that the scenario in which the vehicle is located is a preset scenario, the control device adjusts the duration threshold for continuously detecting the risk target and the time-to-collision (TTC) threshold for the vehicle to collide with the risk target, and obtains the adjusted duration threshold and the adjusted TTC threshold. In some embodiments of the present application, when it is determined that the scenario in which the vehicle is located is not a preset scenario, the control device does not adjust the trigger threshold for triggering the vehicle braking preset in advance and the deceleration when the vehicle performs braking preset in advance.

[0052] In some embodiments of the present application, the method for adjusting the trigger threshold for triggering the vehicle braking preset in advance and the deceleration when the vehicle performs braking preset in advance can refer to the following description of Figure 4 .

[0053] 204. Determine whether the vehicle meets the braking condition based on the adjusted trigger threshold. If it is determined based on the adjusted trigger threshold that the vehicle meets the braking condition, perform step 205.

[0054] In some embodiments of the present application, if the duration for which the first object is continuously detected is greater than the adjusted duration threshold, and the time-to-collision (TTC) for detecting that the vehicle will collide with the first object is less than the adjusted TTC threshold, the control device determines that the vehicle meets the braking condition.

[0055] 205. Apply braking to the vehicle based on the adjusted deceleration.

[0056] In the present application, when it is determined that the vehicle is in a preset scenario, the trigger threshold for triggering the vehicle braking preset in advance and the deceleration when the vehicle performs braking preset in advance are adjusted; and when it is determined based on the adjusted trigger threshold that the vehicle meets the braking condition, braking is applied to the vehicle based on the adjusted deceleration, so that the trigger threshold and the braking deceleration of the automatic braking function of the automatic emergency braking (AEB) system can be automatically adjusted, improving the performance of the automatic emergency braking in emergency scenarios such as the "hidden object" scenario and enhancing driving safety at the same time. In addition, when not in an emergency scenario such as the "hidden object" scenario, the present application does not adjust the trigger threshold and the braking deceleration. Therefore, the present application optimizes on the basis of the automatic braking function of the original AEB system, which can not only ensure a low false triggering level of the automatic braking function of the AEB system, but also improve the automatic braking performance of the AEB system in emergency scenarios.

[0057] As Figure 3 shown, it is a refined flowchart of how to determine whether the vehicle is in a preset scenario in step 202 provided by an embodiment of the present application. According to different requirements, the order of the steps in the refined flowchart can be changed, and some steps can be omitted. In 2020, determine whether the scenario where the vehicle is located includes a first object and a second object according to the sensing information. If the scenario where the vehicle is located does not include the first object and / or the second object, execute 2021. If the scenario where the vehicle is located includes the first object and the second object, execute 2022.

[0058] Taking the second object as another vehicle parked on the right side of the lane where the vehicle is located, and the first object as a pedestrian approaching the vehicle from the direction where the second object is located as an example, the control device can detect the first object and the second object according to the images captured by the camera installed under the right rearview mirror of the vehicle and / or the camera installed at the front bumper of the vehicle. The control device can use algorithms such as HOG and SIFT to extract pedestrian features from the captured images to determine whether the first object is detected, and extract vehicle features to determine whether the second object is detected.

[0059] In 2021, determine that the scenario where the vehicle is located is not a preset scenario, that is, not a ghost probe emergency scenario.

[0060] In 2022, determine the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle according to the sensing information.

[0061] In some embodiments of the present application, the relevant parameters of the first object include, but are not limited to, the lateral speed of the first object, the duration for which the first object is continuously detected, the first lateral distance between the first object and the vehicle, and the first longitudinal distance between the first object and the vehicle.

[0062] In some embodiments of the present application, the lateral speed of the first object refers to the speed of the first object in a direction perpendicular to the driving direction of the vehicle. Specifically, it can be calculated according to the lateral position change of the first object in the captured consecutive frames, where the lateral speed of the first object is equal to the displacement of the first object in the lateral direction divided by the time interval. The first lateral distance between the first object and the vehicle refers to the distance between the first object and the vehicle in the lateral direction, which can be directly measured by a sensor. Correspondingly, the first longitudinal distance between the first object and the vehicle refers to the distance between the first object and the vehicle in the longitudinal direction, which can also be directly measured by a sensor.

[0063] In some embodiments of the present application, the relevant parameters of the second object include, but are not limited to, the second lateral distance between the second object and the vehicle, the second longitudinal distance between the second object and the vehicle, the difference between the first longitudinal distance and the second longitudinal distance, and the difference between the first lateral distance and the second lateral distance. The method for obtaining the relevant parameters of the second object can refer to the method for obtaining the relevant parameters of the first object.

[0064] In some embodiments of the present application, the relevant parameters of the vehicle include, but are not limited to, the current driving state of the vehicle, the driving speed of the vehicle, and the yaw angular velocity.

[0065] In 2023, determine whether the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle respectively meet the corresponding conditions.

[0066] If the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle respectively meet the corresponding conditions, execute step 2024.

[0067] If any one of the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle does not meet the corresponding conditions, execute step 2021 to determine that the scene where the vehicle is located is not a preset scene.

[0068] In some embodiments of the present application, that the relevant parameters of the first object meet the corresponding conditions includes: the absolute value of the lateral speed of the first object is greater than a first preset speed (for example, 0.5 m / s), the duration for which the first object is continuously detected is less than a preset duration (for example, 500 ms), the absolute value of the first lateral distance between the first object and the vehicle is less than a first preset distance (for example, 2.5 m), and the absolute value of the first longitudinal distance between the first object and the vehicle is less than a second preset distance (for example, 30 m).

[0069] That the relevant parameters of the second object meet the corresponding conditions includes: the absolute value of the second lateral distance between the second object and the vehicle belongs to a preset first distance range (for example, 1.8 m to 3.2 m), the absolute value of the second longitudinal distance between the second object and the vehicle belongs to a preset second distance range (for example, within 30 m), the absolute value of the difference between the first longitudinal distance and the second longitudinal distance belongs to a preset third distance range (for example, 0.5 m to 1.3 m), and the absolute value of the difference between the first lateral distance and the second lateral distance belongs to a preset fourth distance range (for example, 0 m to 2 m).

[0070] That the relevant parameters of the vehicle meet the corresponding conditions includes: the vehicle is in a straight - line state, the driving speed of the vehicle is less than a second preset speed (for example, 65 km / h), and the yaw rate of the vehicle is less than a preset value (for example, 1 rad / s).

[0071] In 2024, determine that the scene where the vehicle is located is a preset scene.

[0072] In some embodiments of the present application, when the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle respectively meet the above - mentioned corresponding conditions, the control device may determine that the scene where the vehicle is located is an emergency scene, such as a "ghost - emerging" scene. When the control device also determines that the scene where the vehicle is located is a preset scene, it determines the first object as a risk target.

[0073] Such as Figure 4As shown, it is a refined flowchart of how to adjust the preset trigger threshold for triggering vehicle braking and how to adjust the deceleration when the vehicle performs braking in step 203 provided by an embodiment of the present application. According to different requirements, the order of steps in the refined flowchart can be changed, and some steps can be omitted.

[0074] In this embodiment, the trigger threshold for triggering vehicle braking includes the duration threshold for which a risk target is continuously detected and the time-to-collision (TTC) threshold for the vehicle to be expected to collide with the risk target as an example.

[0075] 2031. Based on the duration threshold for which a risk target is continuously detected and a first preset multiple, determine the adjusted duration threshold.

[0076] In some embodiments of the present application, the product of the preset duration threshold for which a risk target is continuously detected and the first preset multiple (such as 0.5 times) is used as the adjusted duration threshold. 2032. Based on the TTC threshold and a second preset multiple, determine the adjusted TTC threshold.

[0077] In some embodiments of the present application, the product of the TTC threshold and the second preset multiple (such as 1.3 times) is used as the adjusted TTC threshold.

[0078] 2033. Based on the preset deceleration when the vehicle performs braking and a third preset multiple, determine the adjusted deceleration.

[0079] In some embodiments of the present application, the product of the preset deceleration when the vehicle performs braking and the third preset multiple (such as 1.5 times) is used as the adjusted deceleration when the vehicle performs braking.

[0080] When it is determined that the vehicle is in a preset scenario, the present application adjusts the preset trigger threshold for triggering vehicle braking and adjusts the preset deceleration when the vehicle performs braking; and when it is determined that the vehicle meets the braking condition based on the adjusted trigger threshold, brakes the vehicle based on the adjusted deceleration, which can automatically adjust the trigger threshold and braking deceleration of the automatic braking function of the automatic emergency braking (AEB) system, improve the performance of the automatic emergency braking in emergency scenarios such as the "hidden object" scenario, and improve driving safety. In addition, when it is not in an emergency scenario such as the "hidden object" scenario, the present application does not adjust the trigger threshold and braking deceleration. Therefore, the present application optimizes on the basis of the automatic braking function of the original AEB system, which can not only ensure a low false trigger level of the automatic braking function of the AEB system, but also improve the automatic braking performance of the AEB system in emergency scenarios.

[0081] Such as Figure 5As shown in the figure, it is a functional module diagram of the vehicle obstacle avoidance device provided by an embodiment of the present application. The vehicle obstacle avoidance device 11 runs on the control device 2. The vehicle obstacle avoidance device 11 includes an acquisition module 110, a judgment module 111, an adjustment module 112, and a control module 113. The module / unit referred to in the present application means a series of computer-readable instruction segments that can be acquired by the processor 23 and can complete fixed functions, and are stored in the memory 22.

[0082] The acquisition module 110 is used to, when the vehicle is running, acquire the sensing information of the vehicle's sensors in real time; the judgment module 111 is used to determine whether the vehicle is in a preset scenario according to the sensing information; the adjustment module 112 is used to, if the vehicle is in a preset scenario, adjust the trigger threshold for triggering vehicle braking and adjust the deceleration when the vehicle performs braking as preset; and the control module 113 is used to, if it is determined that the vehicle meets the braking condition based on the adjusted trigger threshold, perform braking on the vehicle based on the adjusted deceleration.

[0083] If the module / unit integrated in the control device 2 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 such an understanding, to implement all or part of the processes in the above embodiment methods of the present application, it can also be completed by instructing relevant hardware through computer-readable instructions. The computer-readable instructions can be stored in a computer-readable storage medium. When the computer-readable instructions are executed by a processor, the steps of the above various method embodiments can be implemented.

[0084] Among them, the computer-readable instructions include computer-readable instruction codes, and the computer-readable instruction codes can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer-readable medium can include: any entity or device that can carry the computer-readable instruction code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory).

[0085] The memory 22 can be used to store computer-readable instructions and / or modules. By running or executing the computer-readable instructions and / or modules stored in the memory 22, and invoking the data stored in the memory 22, the processor 23 realizes various functions of the control device 2. The memory 22 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the control device. The memory 22 can include non-volatile and volatile memories, such as: hard disks, memory, plug-in hard disks, smart media cards (SMC), secure digital (SD) cards, flash cards, at least one magnetic disk storage device, flash memory device, or other storage devices.

[0086] Exemplarily, the computer-readable instructions can be divided into one or more modules / units. One or more modules / units are stored in the memory 22 and executed by the processor 23 to complete the present application. One or more modules / units can be a series of computer-readable instruction segments capable of completing specific functions, and the computer-readable instruction segments are used to describe the execution process of the computer-readable instructions in the control device 2. For example, the computer-readable instructions can be divided into a setting module 110, a determination module 111, and a control module 112.

[0087] For the detailed content of the functions of each module / unit, reference can be made to the detailed description above Figures 2 - 5 and will not be repeated here.

[0088] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division, and there can be other division methods in actual implementation.

[0089] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0090] In addition, in each embodiment of the present application, the various functional modules can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.

[0091] Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of this application is defined by the appended claims rather than the above description. Accordingly, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within this application. Any reference signs in the claims should not be construed as limiting the claims concerned.

[0092] In addition, it is obvious that the term "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of elements or devices may also be implemented by one element or device through software or hardware. The terms first, second, etc. are used to denote names and do not denote any particular order.

Claims

1. A vehicle obstacle avoidance method, characterized in that: The method comprises: If it is determined that the vehicle is in a preset scenario, adjusting a preset triggering threshold for triggering braking of the vehicle and adjusting a preset deceleration of the vehicle when braking; and Based on the adjusted trigger threshold, in a case where it is determined that the vehicle meets the braking condition, braking is performed on the vehicle based on the adjusted deceleration.

2. The vehicle obstacle avoidance method according to claim 1, characterized in that: The method further comprises: Acquiring sensing information of a sensor of the vehicle; Determining whether the vehicle is in the preset scene according to the sensing information includes: If the scene in which the vehicle is located includes a first object and a second object, and the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle respectively meet corresponding conditions, determining that the vehicle is in the preset scene; If the scene in which the vehicle is located does not include the first object or the second object, or any one of the relevant parameters of the first object, the relevant parameters of the second object, and the relevant parameters of the vehicle does not meet the corresponding conditions, it is determined that the vehicle is not in the preset scene.

3. The vehicle obstacle avoidance method according to claim 2, characterized in that: The second object includes a neighboring vehicle of the vehicle; and the first object includes an object approaching the vehicle from the location of the second object.

4. The vehicle obstacle avoidance method according to claim 3, characterized in that: The relevant parameters of the first object satisfy corresponding conditions including: an absolute value of a lateral speed of the first object is greater than a first preset speed, a duration for which the first object is continuously detected is less than a preset duration, an absolute value of a first lateral distance between the first object and the vehicle is less than a first preset distance, and an absolute value of a first longitudinal distance between the first object and the vehicle is less than a second preset distance; The relevant parameters of the second object satisfy corresponding conditions including: an absolute value of a second lateral distance between the second object and the vehicle belongs to a preset first distance range, an absolute value of a second longitudinal distance between the second object and the vehicle belongs to a preset second distance range, an absolute value of a difference between the first longitudinal distance and the second longitudinal distance belongs to a preset third distance range, and an absolute value of a difference between the first lateral distance and the second lateral distance belongs to a preset fourth distance range; The relevant parameters of the vehicle satisfy corresponding conditions including: the vehicle is in a straight-moving state, the driving speed of the vehicle is less than a second preset speed, and the yaw angular velocity of the vehicle is less than a preset value.

5. The vehicle obstacle avoidance method according to claim 4, characterized in that: The method further comprises: If it is determined that the scene in which the vehicle is located is not the preset scene, the preset trigger threshold for triggering the vehicle braking is not adjusted, and the preset deceleration of the vehicle when braking is not adjusted.

6. The vehicle obstacle avoidance method according to claim 4, characterized in that: The triggering threshold for triggering the vehicle braking includes a time threshold for the risk target to be continuously detected and a time TTC threshold for the vehicle to be expected to collide with the risk target; wherein, adjusting the preset triggering threshold for triggering the vehicle braking and adjusting the preset deceleration of the vehicle when performing braking includes: Determining an adjusted duration threshold based on the duration threshold during which the risk target is continuously detected and the first preset multiple; Determining an adjusted TTC threshold based on the TTC threshold and a second preset multiple; and The adjusted deceleration is determined based on a preset deceleration of the vehicle when braking and a third preset multiple.

7. The vehicle obstacle avoidance method according to claim 6, characterized in that: The method further comprises: If it is determined that the scene in which the vehicle is located is the preset scene, determining the first object as a risk target; and If the duration for which the first object is continuously detected is greater than the adjusted duration threshold, and the time TTC at which the vehicle is expected to collide with the first object is less than the adjusted TTC threshold, it is determined that the vehicle meets the braking condition.

8. A vehicle obstacle avoidance device, operating on a control device, characterized in that: The vehicle obstacle avoidance device comprises: an adjustment module, configured to adjust a preset triggering threshold for triggering braking of the vehicle and a preset deceleration of the vehicle when braking if it is determined that the vehicle is in a preset scenario; and The control module is used for braking the vehicle based on the adjusted deceleration when it is determined that the vehicle meets the braking condition based on the adjusted trigger threshold.

9. A control device, characterized in that: The control device comprises: a memory storing computer-readable instructions; and A processor executes the computer-readable instructions to implement the vehicle obstacle avoidance method as described in any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle comprises the control device as claimed in claim 9.

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