Control method and system for automatic emergency braking of vehicle and vehicle

Abstract

The invention provides a control method and system for automatic emergency braking of a vehicle and the vehicle, and relates to the technical field of vehicle active safety, and the control method comprises the steps that obstacle position information in a preset area corresponding to the vehicle is obtained in real time; performing cross validation according to the obstacle position information and the vehicle-mounted CAN bus information, and determining whether the current driving condition of the vehicle meets a preset requirement or not; under the condition that the current driving condition meets the preset requirement, the collision time of the target obstacle and the vehicle is determined; according to the comparison result of the collision time and the preset value, a braking instruction is sent to a microcontroller or a core electronic control unit of the vehicle, so that the microcontroller or the core electronic control unit conducts braking control on the vehicle based on the braking instruction. The problem that in the prior art, the braking time delay of an automatic emergency braking control system of a vehicle is high is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle active safety, and particularly to a control method, a system and a vehicle for automatic emergency braking of a vehicle. Background Art

[0002] Traditional braking systems rely on driver reaction and are dangerous due to delays in emergency situations (such as a pedestrian suddenly crossing).

[0004] However, the braking time delay of the active emergency braking control system of conventional vehicles is still relatively high, generally around 300 ms or even more. Therefore, developing an automatic emergency braking system control system suitable for vehicles with lower delay is of great significance for increasing the active safety of automobiles. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a control method, a system and a vehicle for automatic emergency braking of a vehicle, which solve the problem of relatively high braking time delay in the automatic emergency braking control system of a vehicle in the prior art.

[0006] At least one embodiment of the present invention provides a control method for automatic emergency braking of a vehicle, including:

[0007] Obtaining real-time position information of obstacles in a preset area corresponding to the vehicle;

[0008] Performing cross-verification based on the obstacle position information and in-vehicle CAN bus information to determine whether the current driving condition of the vehicle meets a preset requirement;

[0009] When the current driving condition meets the preset requirement, determining the collision time between the target obstacle and the vehicle;

[0010] Sending a braking instruction to the microcontroller or the core electronic control unit of the vehicle according to the comparison result between the collision time and a preset value, so that the microcontroller or the core electronic control unit controls the braking of the vehicle based on the braking instruction.

[0011] The technical solution publicly provided by the present invention has at least the following beneficial effects:

[0012] The present invention cross - validates the current position information with the in - vehicle CAN bus information, and then determines whether the vehicle driving condition meets the preset requirements, which can avoid the mis - triggering of subsequent braking instructions and improve the passenger driving experience. At the same time, according to the comparison result between the collision time and the preset value, a braking instruction can be directly sent to the micro - controller of the vehicle, bypassing the vehicle's core electronic control unit and directly acting on the micro - controller, making its compatibility high and enabling it to be widely applied to various traditional mechanical braking systems. Compared with the conventional vehicle's braking control that relies on the core electronic control unit for the vehicle's micro - controller and motor, this process has a lower delay, and can reduce the braking time delay of the traditional architecture from 300 ms to within 80 ms.

[0013] In a control method for vehicle automatic emergency braking provided in one embodiment of the present invention, the step of sending a braking instruction to the micro - controller or the core electronic control unit of the vehicle according to the comparison result between the collision time and the preset value includes:

[0014] When the collision time is less than the preset value, a first braking instruction is sent to the micro - controller of the vehicle, so that the micro - controller controls the motor to perform emergency braking according to the first braking instruction;

[0015] When the collision time is greater than or equal to the preset value, a second braking instruction is sent to the core electronic control unit of the vehicle, so that the core electronic control unit controls the vehicle to enter a preset warning deceleration state according to the second braking instruction.

[0016] The technical solution publicly provided by the present invention has at least the following beneficial effects:

[0017] When the collision time is less than the preset value, a braking instruction can be directly sent to the micro - controller of the vehicle, bypassing the vehicle's core electronic control unit and directly acting on the micro - controller for emergency braking to improve the safety of vehicle control. When the collision time is greater than or equal to the preset value, the vehicle can be controlled to enter a warning deceleration state to prepare for various possible emergencies.

[0018] In a control method for vehicle automatic emergency braking provided in one embodiment of the present invention, the step of sending a first braking instruction to the micro - controller of the vehicle, so that the micro - controller controls the motor to perform emergency braking according to the first braking instruction, further includes:

[0019] Controlling the lights and instrument panel to display the current braking state through the in - vehicle CAN bus.

[0020] The technical solution publicly provided by the present invention has at least the following beneficial effects:

[0021] Using the in-vehicle CAN bus to control lights and instruments solves the drawback that the braking signals output during autonomous driving of traditional vehicles do not perform CAN message interaction verification with vehicle lights or instrument panels, improving the experience of intelligent and safe driving.

[0022] In a control method for vehicle automatic emergency braking provided in one embodiment of the present invention, the cross-verifying according to the obstacle position information and the in-vehicle CAN bus information to determine whether the current driving condition of the vehicle meets a preset requirement includes:

[0023] Determining whether there is an obstacle in the preset area according to the obstacle position information;

[0024] When there is an obstacle in the preset area, obtaining the driving path of the vehicle based on the in-vehicle CAN bus information;

[0025] Combining the driving path of the vehicle and the obstacle position information to determine whether the obstacle will hinder the vehicle from driving;

[0026] If the obstacle will hinder the vehicle from driving, determining that the current driving condition of the vehicle meets the preset requirement;

[0027] If there is no such obstacle in the preset area, and / or the obstacle will not hinder the vehicle from driving, determining that the current driving condition of the vehicle does not meet the preset requirement.

[0028] The technical solution provided by the present invention at least has the following beneficial effects:

[0029] By cross-verifying the vehicle steering angle, running speed and the current position information of the obstacle, it can be confirmed whether the detected obstacle hinders the normal driving of the vehicle, so as to decide whether to issue a braking instruction and avoid false triggering due to obstacles that do not affect normal driving.

[0030] In a control method for vehicle automatic emergency braking provided in one embodiment of the present invention, it further includes:

[0031] During the process of the microcontroller or the core electronic control unit performing braking control on the vehicle based on the braking instruction, continuously obtaining the obstacle position information in the preset area;

[0032] Cross-verifying according to the continuously obtained obstacle position information and the in-vehicle CAN bus information to determine whether the real-time driving condition of the vehicle meets the preset requirement;

[0033] If the real-time driving condition does not meet the preset requirement, canceling the response of the microcontroller or the core electronic control unit to the braking instruction.

[0034] The technical solution provided by the present invention at least has the following beneficial effects:

[0035] By canceling the response to the braking instruction, when a sudden error is detected or the obstacle disappears, the vehicle can immediately resume normal driving.

[0036] In a control method for vehicle automatic emergency braking provided in one embodiment of the present invention, it further includes:

[0037] If, within a preset time period, the braking instruction is continuously responded to and the response to the braking instruction is canceled more than a preset number of times, it is determined that the current obstacle detection method is abnormal, and the preset detection method is switched or the control of the vehicle automatic emergency braking is stopped.

[0038] The technical solution provided by the present invention at least has the following beneficial effects:

[0039] When it is determined that the current obstacle detection method is abnormal, by switching the preset detection method or stopping the control of the vehicle automatic emergency braking, it is possible to effectively cope with the sudden abnormality of the current detection device of the vehicle and avoid the situation of vehicle out of control caused by the abnormality of the detection device.

[0040] In a control method for vehicle automatic emergency braking provided in one embodiment of the present invention, the switching to the preset detection method or stopping the control of the vehicle automatic emergency braking further includes:

[0041] Controlling the warning light to light up through the in-vehicle CAN bus.

[0042] The technical solution provided by the present invention at least has the following beneficial effects:

[0043] Using the in-vehicle CAN bus to control the warning light to light up, can the driver be reminded of the abnormal information of the initial detection device in real time through the warning light.

[0044] In a control method for vehicle automatic emergency braking provided in one embodiment of the present invention, it further includes:

[0045] During the process that the microcontroller responds to the first braking instruction or the core electronic control unit responds to the second braking instruction, if a third braking instruction from the brake pedal is detected, the third braking instruction is preferentially responded to.

[0046] The technical solution provided by the present invention at least has the following beneficial effects:

[0047] Through the above settings, it can be ensured that the braking of the newly connected microcontroller does not affect the original vehicle braking system, supports the priority of manual stepping on the brake pedal, avoids the system competing with the driver for control rights, and ensures safety redundancy.

[0048] At least one embodiment of the present invention further provides a control system for vehicle automatic emergency braking, including:

[0049] A detection module, which obtains the position information of obstacles in a preset area corresponding to the vehicle in real time;

[0050] A control module, which includes a first judgment unit, a calculation unit and a braking instruction sending unit. Among them,

[0051] The first judgment unit is used to perform cross-verification according to the obstacle position information and in-vehicle CAN bus information to determine whether the current driving condition of the vehicle meets the preset requirements;

[0052] The calculation unit is used to determine the collision time between the target obstacle and the vehicle when the current driving condition meets the preset requirements;

[0053] The braking instruction sending unit is used to send a braking instruction to the microcontroller or the core electronic control unit of the vehicle according to the comparison result between the collision time and a preset value, so that the microcontroller or the core electronic control unit performs braking control on the vehicle based on the braking instruction.

[0054] The present invention also provides a vehicle, including a vehicle body and a control system for vehicle automatic emergency braking as described above configured on the vehicle body.

[0055] The present invention also provides a computer-readable storage medium, in which instructions are stored. When the instructions run on a terminal device, the terminal device is enabled to execute a control method for vehicle automatic emergency braking as described above.

[0056] The present invention also provides an electronic device, including a memory, a processor and a program stored on the memory and running on the processor. When the processor executes the program, it implements a control method for vehicle automatic emergency braking as described above. Description of the Drawings

[0057] Figure 1 It is a schematic flowchart of a control method for vehicle automatic emergency braking according to the present invention;

[0058] Figure 2 It is a schematic logic diagram of a control system for vehicle automatic emergency braking according to the present invention;

[0059] Figure 3 It is a schematic structural diagram of the electronic device provided by the present invention.

[0060] In the drawings, the list of components represented by each reference numeral is as follows:

[0061] 100. Control system for automatic emergency braking of a vehicle, 101. Detection module, 102. Control module, 1021. First judgment unit, 1022. Calculation unit, 1023. Braking instruction sending unit;

[0062] 10. Electronic device, 11. Processor, 12. Read-only memory (ROM), 13. Random access memory (RAM), 14. Bus, 15. Input / output (I / O) interface, 16. Input unit, 17. Output unit, 18. Storage unit, 19. Communication unit. Detailed implementation

[0063] The principles and features of the present disclosure are described below. The examples given are only for explaining the present disclosure and are not intended to limit the scope of the present disclosure.

[0064] The embodiments of the present disclosure provide a control method for automatic emergency braking of a vehicle. Please refer to Figure 1 as shown, including:

[0065] S1. Real-time obtain the position information of obstacles within the preset area corresponding to the vehicle;

[0066] S2. Cross-verify according to the obstacle position information and in-vehicle CAN bus information to determine whether the current driving condition of the vehicle meets the preset requirements;

[0067] S3. When the current driving condition meets the preset requirements, determine the collision time between the target obstacle and the vehicle;

[0068] S4. According to the comparison result between the collision time and the preset value, send a braking instruction to the microcontroller or the core electronic control unit of the vehicle, so that the microcontroller or the core electronic control unit controls the braking of the vehicle based on the braking instruction.

[0069] In the embodiments of the present disclosure, by cross-verifying the current position information with the in-vehicle CAN bus information to determine whether the vehicle driving condition meets the preset requirements, it is possible to avoid the mis-triggering of subsequent braking instructions and improve the driving experience of passengers; at the same time, according to the comparison result between the collision time and the preset value, a braking instruction can be directly sent to the microcontroller of the vehicle, bypassing the vehicle core electronic control unit and directly acting on the microcontroller, making its compatibility high and capable of being widely applied to various traditional mechanical braking systems. Compared with the conventional vehicle's braking control that relies on the core electronic control unit for the vehicle microcontroller and motor, its delay is lower, and the braking time delay of the traditional architecture can be reduced from 300 ms to within 80 ms.

[0070] In a more specific embodiment provided by the present disclosure, it includes:

[0071] S1. Use a millimeter-wave radar to detect and obtain the position information of obstacles in a preset area corresponding to the vehicle in real time. Among them, the position information includes the distance and azimuth of the target obstacle(s). The target obstacle can be one or more. When an obstacle is detected, proceed to step S2;

[0072] S2. Perform cross-verification based on the obstacle position information and in-vehicle CAN bus information to determine whether the current driving condition of the vehicle meets the preset requirements. Specifically, it includes:

[0073] Determine whether there are obstacles in the preset area according to the obstacle position information;

[0074] When there are obstacles in the preset area, obtain the driving path of the vehicle based on the in-vehicle CAN bus information;

[0075] Combine the driving path of the vehicle and the obstacle position information to determine whether the obstacle will hinder the vehicle's driving; if there is an existing driving path of the vehicle and the vehicle is on the existing driving path, then determine whether the obstacle will hinder the vehicle's driving based on the existing driving path. If there is no specified driving path, or there is an existing one but the vehicle is not on the specified path, then obtain the current speed and steering angle of the vehicle from the in-vehicle CAN bus information, and predict the driving path of the vehicle according to the above current speed and steering angle;

[0076] If the obstacle will hinder the vehicle's driving, determine that the current driving condition of the vehicle meets the preset requirements;

[0077] If there are no obstacles in the preset area, and / or the obstacle will not hinder the vehicle's driving, determine that the current driving condition of the vehicle does not meet the preset requirements.

[0078] By cross-verifying the vehicle's steering angle, running speed and the current position information of the obstacle, it can be confirmed whether the detected obstacle affects the normal driving of the vehicle, so as to decide whether to issue a braking instruction and avoid false triggering due to obstacles that do not affect normal driving.

[0079] More preferably, when obtaining the position information of obstacles in the preset area corresponding to the vehicle, it further includes:

[0080] Receive the position information of obstacles in the preset area around the vehicle obtained by the millimeter-wave radar, and control the relevant indicator lights to feedback whether the radar detects an obstacle. Through the above solution, the driver can also check whether there are obstacles in front of the vehicle by observing the indicator lights or comprehensively determine whether the millimeter-wave radar is faulty.

[0081] In a schematic embodiment provided by the present disclosure, after sending a braking instruction to the vehicle's microcontroller or core electronic control unit according to the comparison result between the collision time and a preset value, so that the microcontroller or core electronic control unit performs braking control on the vehicle based on the braking instruction, the method further includes:

[0082] During the process of the microcontroller (vehicle MCU) or core electronic control unit (vehicle ECU) performing braking control on the vehicle based on the braking instruction, continuously obtain the obstacle position information within a preset area;

[0083] Perform cross-verification based on the continuously obtained obstacle position information and in-vehicle CAN bus information to determine whether the vehicle's real-time driving condition meets the preset requirements;

[0084] If the real-time driving condition does not meet the preset requirements, cancel the response of the microcontroller or core electronic control unit to the braking instruction.

[0085] By canceling the response to the first braking instruction and the second braking instruction, when sudden error detection or obstacle disappearance occurs, the vehicle can immediately resume normal driving.

[0086] Specifically, the above-mentioned sending a braking instruction to the vehicle's microcontroller or core electronic control unit according to the comparison result between the collision time and a preset value specifically includes:

[0087] When the collision time is less than the preset value (set to 1 s in this embodiment), send a first braking instruction to the vehicle's microcontroller, so that the microcontroller controls the motor to perform emergency braking according to the first braking instruction, and at the same time controls the lights and instrument to display the current braking state through the in-vehicle CAN bus, so as to solve the shortcoming that the braking signal output by traditional vehicles during autonomous driving does not perform CAN message interaction verification with the vehicle lights or instrument panel, thereby improving the experience of intelligent and safe driving.

[0088] When the collision time is greater than or equal to the preset value, send a second braking instruction to the vehicle's core electronic control unit, so that the core electronic control unit controls the vehicle to enter a preset warning deceleration state according to the second braking instruction.

[0089] When the collision time is less than the preset value, the braking instruction can be directly sent to the vehicle's microcontroller, bypassing the vehicle core electronic control unit and directly acting on the microcontroller for emergency braking to improve the safety of vehicle control. When the collision time is greater than or equal to the preset value, the vehicle can be controlled to enter the warning deceleration state to prepare for various possible emergencies. The warning deceleration state means that the vehicle performs decelerating braking and also controls the lights and instrument to display the current braking state through the in-vehicle CAN bus.

[0090] Preferably, the present disclosure also provides another embodiment. The difference between this embodiment and the above embodiment is that, based on the comparison result of the collision time and the preset value, a braking instruction is sent to the vehicle's microcontroller or core electronic control unit, so that the microcontroller or core electronic control unit performs braking control on the vehicle based on the braking instruction. It further includes:

[0091] If within a preset time period (e.g., within 3 s), there are more than a preset number of consecutive responses to the braking instruction and cancellations of the response to the braking instruction, it is determined that the current obstacle detection method is abnormal, and the detection method is switched to a preset detection method or the control of the vehicle's automatic emergency braking is stopped. The braking instruction includes a first braking instruction and a second braking instruction. The above preset detection method can be, for example, ultrasonic radar detection or an alternative image recognition detection method.

[0092] When it is determined that the current obstacle detection method is abnormal, by switching the preset detection method or stopping the control of the vehicle's automatic emergency braking, it is possible to effectively cope with the sudden abnormality of the vehicle's current detection device and avoid the situation of vehicle out of control caused by the abnormality of the detection device.

[0093] Preferably, after it is determined that the current obstacle detection method is abnormal and the detection method is switched to a preset detection method or the control of the vehicle's automatic emergency braking is stopped, the warning light is controlled to be lit through the in-vehicle CAN bus, and the driver is reminded of the abnormality information of the initial detection device in real time through the warning light.

[0094] In another embodiment provided by the present disclosure, it further includes:

[0095] During the process of the microcontroller responding to the first braking instruction or the core electronic control unit responding to the second braking instruction, if a third braking instruction from the brake pedal is detected, the third braking instruction is preferentially responded to.

[0096] Through the above setting, it can be ensured that the newly connected microcontroller braking does not affect the original vehicle braking system, supports the priority of manual stepping on the brake pedal, avoids the system competing with the driver for control, and ensures safety redundancy.

[0097] Through the above method, the embodiment of the present disclosure can shorten the system response time, improve the braking response speed; does not rely on the original vehicle ECU, has good compatibility; supports the priority of manual intervention, ensures safety redundancy; and can automatically turn off abnormal functions to improve system stability.

[0098] In summary, the above solution is specifically described for its application to a vehicle. The millimeter-wave radar is used to detect the distance and azimuth of obstacles. When an obstacle is detected, the original signal is transmitted to the control board. The control board receives the original signal from the millimeter-wave radar and performs signal processing to calculate the time to collision (TTC). When the TTC is less than 1 second, the control board directly sends a braking signal to the vehicle's MCU, and the motor realizes electric braking.

[0099] The control board cross-verifies with the in-vehicle CAN bus information to avoid false triggering. At the same time, the control board monitors the millimeter-wave radar signal and feeds back the signal status through an indicator light. If the radar signal is abnormal, the function can be automatically turned off or switched to other detection modes.

[0100] The braking signal sent by the control board bypasses the vehicle ECU and directly acts on the vehicle MCU. The system delay is reduced from 300 ms of the traditional architecture to less than 80 ms, improving the response speed. The electric braking of the vehicle MCU is compatible with the traditional mechanical braking system. It not only streamlines the equipment, resulting in less modification and low cost, but also can be compatible with the traditional pedal → ECU → brake system, ensuring the priority of manual intervention. At the same time, it continuously monitors the credibility of the radar signal. If the signal is abnormal, it switches to a backup sensor or manual mode and lights up to remind.

[0101] In summary, the embodiments of the present disclosure have the following beneficial effects:

[0102] 1. Shorten the system response time and improve the braking response speed. The time from signal triggering to MCU electric braking is less than 80 ms, far lower than more than 300 ms of traditional vehicles, and can meet the rapid response requirements in emergency situations;

[0103] 2. Do not rely on the original vehicle ECU and electronic braking, and can be widely adapted to various vehicle models using motors, with good compatibility and applicability;

[0104] 3. Through the shortest signal path of radar - control board - MCU, the system delay is reduced from 300 ms of the traditional architecture to less than 80 ms, effectively reducing communication delay;

[0105] 4. Connecting to the MCU for braking does not affect the original vehicle braking system, supports the priority of manual braking on the brake pedal, avoids the system competing with the driver for control, and ensures safety redundancy;

[0106] 5. The radar signal can be monitored through the control board. If the signal is abnormal, the function can be turned off or switched to other detection modes, improving the safety and stability of the system and reducing the driver's operation burden.

[0107] The embodiments of the present disclosure also provide a control system 100 for automatic emergency braking of a vehicle. Please refer to Figure 2 as shown, including:

[0108] The detection module 101 obtains the position information of obstacles in the preset area corresponding to the vehicle in real time;

[0109] The control module 102, the control module 102 includes a first judgment unit 1021, a calculation unit 1022 and a braking instruction sending unit 1023, wherein,

[0110] The first judgment unit 1021 is used to perform cross-verification according to the obstacle position information and the in-vehicle CAN bus information to determine whether the current driving condition of the vehicle meets the preset requirements;

[0111] The calculation unit 1022 is used to determine the collision time between the target obstacle and the vehicle when the current driving condition meets the preset requirements;

[0112] The braking instruction sending unit 1023 is used to send a braking instruction to the microcontroller or the core electronic control unit of the vehicle according to the comparison result between the collision time and the preset value, so that the microcontroller or the core electronic control unit performs braking control on the vehicle based on the braking instruction

[0113] Further, the braking instruction sending unit 1023 specifically includes:

[0114] When the collision time is less than the preset value, send a first braking instruction to the microcontroller of the vehicle, so that the microcontroller controls the motor to perform emergency braking according to the first braking instruction;

[0115] When the collision time is greater than or equal to the preset value, send a second braking instruction to the core electronic control unit of the vehicle, so that the core electronic control unit controls the vehicle to enter a preset warning deceleration state according to the second braking instruction.

[0116] Further, the first judgment unit 1021 specifically includes:

[0117] Determine whether there is an obstacle in the preset area according to the obstacle position information;

[0118] When there is an obstacle in the preset area, obtain the driving path of the vehicle based on the in-vehicle CAN bus information;

[0119] Combining the driving path of the vehicle and the obstacle position information, determine whether the obstacle will hinder the vehicle from driving;

[0120] If the obstacle will hinder the vehicle from driving, it is determined that the current driving condition of the vehicle meets the preset requirements;

[0121] If there is no obstacle in the preset area, and / or the obstacle will not hinder the vehicle from driving, it is determined that the current driving condition of the vehicle does not meet the preset requirements.

[0122] Further, it further includes:

[0123] During the process that the microcontroller responds to the first braking instruction or the second braking instruction, or the core electronic control unit responds to the second braking instruction, the braking instruction sending unit 1023 is further configured to:

[0124] Continuously obtain the obstacle position information within a preset area;

[0125] Perform cross-verification based on the continuously obtained obstacle position information and in-vehicle CAN bus information to determine whether the real-time driving condition of the vehicle meets the preset requirements;

[0126] If the real-time driving condition does not meet the preset requirements, cancel the response of the microcontroller or the core electronic control unit to the braking instruction.

[0127] Furthermore, the control module 102 further includes: a switching unit, wherein,

[0128] The switching unit is configured to, if within a preset time period, there are more than a preset number of consecutive responses to braking instructions and cancellations of responses to braking instructions, determine that the current obstacle detection method is abnormal, and switch to a preset detection method or stop controlling the automatic emergency braking of the vehicle.

[0129] Furthermore, the control module 102 further includes a lamp control unit, and the lamp control unit is configured to, when it is determined that the current obstacle detection method is abnormal and switches to a preset detection method or stops controlling the automatic emergency braking of the vehicle, control the warning lamp to light up through the in-vehicle CAN bus.

[0130] Furthermore, it further includes:

[0131] During the process that the microcontroller responds to the first braking instruction, or the core electronic control unit responds to the second braking instruction, the braking instruction sending unit 1023 is further configured to:

[0132] If a third braking instruction from the brake pedal is detected, give priority to responding to the third braking instruction.

[0133] Furthermore, the lamp control unit is further configured to, when the collision time is less than a first preset value and the control board sends a first braking instruction to the microcontroller to control the motor for emergency braking, control the lights and the instrument to display the current braking state through the in-vehicle CAN bus.

[0134] The embodiment of the present disclosure further provides a vehicle, including a vehicle body and a vehicle automatic emergency braking control system 100 configured on the vehicle body as described above.

[0135] It should be noted that in this disclosure, all actions for obtaining signals, information, or data are carried out on the basis of strictly following the relevant data protection regulations and policies of the country where the device is located and with the authorization of the corresponding device owner. The owners mainly include:

[0136] (1) Automobile manufacturers: As developers of vehicle hardware and systems, they control the underlying vehicle hardware and software platforms and have management and control rights over the data generated during vehicle operation, such as driving and fault data.

[0137] (2) Component suppliers: Provide key components for automobiles and have certain ownership of the data collected and processed by the components for product optimization and after-sales, such as the data generated by sensors and chips.

[0138] (3) Vehicle owners or users: The actual users of the vehicle, who have the right to decide on the usage method and scope of vehicle data, such as whether to share driving trajectories, driving habits, etc. data, and have the need and right to protect their own relevant data privacy.

[0139] (4) Service providers: Provide services such as software and data analysis, and have the right to use and manage the data obtained and processed within the framework of the agreement, but the ownership usually belongs to other entities.

[0140] The embodiments of this disclosure also provide a computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions run on a terminal device, the terminal device is enabled to execute a control method for vehicle automatic emergency braking as described above.

[0141] The embodiments of this disclosure also provide an electronic device, including a memory, a processor, and a program stored on the memory and running on the processor. When the processor executes the program, it implements a control method for vehicle automatic emergency braking as described above.

[0142] Figure 3 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of this disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the embodiments of this disclosure described and / or claimed herein.

[0143] As Figure 3As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0144] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0145] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a control method for automatic emergency braking of a vehicle.

[0146] In some embodiments, a control method for automatic emergency braking of a vehicle can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method for automatic emergency braking of a vehicle described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute a control method for automatic emergency braking of a vehicle in any other appropriate manner (e.g., by means of firmware).

[0147] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0148] The computer programs for implementing the methods of the embodiments of the present disclosure can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, a special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0149] In the context of the present disclosure, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0150] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or an LCD (liquid crystal display)); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0151] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0152] A computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The relationship between the client and the server is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0153] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the embodiments of the present disclosure, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0154] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0155] Although the embodiments of the embodiments of the present disclosure have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the embodiments of the present disclosure. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the embodiments of the present disclosure.

Claims

1. A control method for automatic emergency braking of a vehicle, characterized in that: include: Obtain obstacle location information in the preset area corresponding to the vehicle in real time; Perform cross-verification based on the obstacle position information and the vehicle-mounted CAN bus information to determine whether the current driving condition of the vehicle meets the preset requirements; When the current driving condition meets the preset requirement, determining a collision time between the target obstacle and the vehicle; According to the comparison result between the collision time and the preset value, a braking instruction is sent to the microcontroller or the core electronic control unit of the vehicle, so that the microcontroller or the core electronic control unit performs braking control on the vehicle based on the braking instruction.

2. A vehicle automatic emergency braking control method according to claim 1, characterized in that: The step of sending a braking instruction to a microcontroller or a core electronic control unit of the vehicle according to a comparison result of the collision time with a preset value comprises: When the collision time is less than a preset value, sending a first braking instruction to the microcontroller of the vehicle, so that the microcontroller controls the motor to perform emergency braking according to the first braking instruction; When the collision time is greater than or equal to the preset value, a second braking instruction is sent to the core electronic control unit of the vehicle, so that the core electronic control unit controls the vehicle to enter a preset warning deceleration state according to the second braking instruction.

3. A vehicle automatic emergency braking control method according to claim 2, characterized in that: The step of sending a first braking instruction to the microcontroller of the vehicle so that the microcontroller controls the motor to perform emergency braking according to the first braking instruction further includes: The lights and instruments are controlled via the vehicle's CAN bus to display the current braking status.

4. The method for controlling vehicle automatic emergency braking according to claim 1, characterized in that: The cross-verification based on the obstacle position information and the vehicle-mounted CAN bus information to determine whether the current driving condition of the vehicle meets the preset requirements includes: Determining whether there is an obstacle in the preset area according to the obstacle position information; When there is an obstacle in the preset area, obtaining the driving path of the vehicle based on the vehicle CAN bus information; Determine whether the obstacle will hinder the vehicle from traveling by combining the vehicle's travel path and the obstacle location information; If the obstacle will hinder the vehicle from traveling, determining that the current driving condition of the vehicle meets the preset requirement; If the obstacle does not exist in the preset area and / or the obstacle will not hinder the vehicle from traveling, it is determined that the current driving condition of the vehicle does not meet the preset requirement.

5. The method for controlling vehicle automatic emergency braking according to claim 1, characterized in that: Also includes: During the process in which the microcontroller or the core electronic control unit performs braking control on the vehicle based on the braking instruction, continuously acquiring obstacle position information within the preset area; Performing cross-verification based on the continuously acquired obstacle position information and the vehicle-mounted CAN bus information to determine whether the real-time driving condition of the vehicle meets the preset requirements; If the real-time driving condition does not meet the preset requirement, the response of the microcontroller or the core electronic control unit to the braking instruction is cancelled.

6. A vehicle automatic emergency braking control method according to claim 5, characterized in that: Also includes: If the braking command is responded to and the response to the braking command is canceled continuously for more than a preset number of times within a preset time period, it is determined that the current obstacle detection mode is abnormal, and the preset detection mode is switched or the control of the vehicle's automatic emergency braking is stopped.

7. A vehicle automatic emergency braking control method according to claim 6, characterized in that: The switching to a preset detection mode or stopping the control of the vehicle automatic emergency braking also includes: The warning light is turned on by the vehicle's CAN bus.

8. The method for controlling vehicle automatic emergency braking according to claim 1, characterized in that: Also includes: During the process that the microcontroller responds to the first braking command, or the core electronic control unit responds to the second braking command, if a third braking command from the brake pedal is detected, the third braking command is responded to first.

9. A vehicle automatic emergency braking control system, characterized in that: include: The detection module obtains the obstacle position information in the preset area corresponding to the vehicle in real time; A control module, the control module includes a first judgment unit, a calculation unit and a braking instruction sending unit, wherein: The first judgment unit is used to perform cross-verification based on the obstacle position information and the vehicle-mounted CAN bus information to determine whether the current driving condition of the vehicle meets the preset requirements; The calculation unit is used to determine the collision time between the target obstacle and the vehicle when the current driving condition meets the preset requirement; The braking instruction sending unit is used to send a braking instruction to the microcontroller or core electronic control unit of the vehicle according to the comparison result of the collision time and the preset value, so that the microcontroller or the core electronic control unit performs braking control on the vehicle based on the braking instruction.

10. A vehicle, characterized in that: The invention comprises a vehicle body and a vehicle automatic emergency braking control system as claimed in claim 9 which is arranged on the vehicle body.

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