Control method, device and equipment of automatic emergency braking system and storage medium

Abstract

The invention provides a control method, device and equipment of an automatic emergency braking system and a storage medium, and belongs to the technical field of intelligent driving. The control method comprises the steps that a sensing frame of the automatic emergency braking system for a target object around a vehicle is obtained; determining a first position change rate and a first speed change rate of the target object in the first time period according to the sensing frame; determining whether the sensing frame shakes according to the first position change rate and the first speed change rate; if the sensing frame shakes, the braking operation of the automatic emergency braking system is restrained. According to the method, whether the sensing frame shakes or not can be determined according to the first position change rate and the first speed change rate of the target object in the first time period, then suppression measures are taken for the automatic emergency braking system according to the shaking situation, the mistaken touch rate of the automatic emergency braking system is greatly reduced, and the safety of the automatic emergency braking system is improved. And the safety and the reliability of the automatic emergency braking system are improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and particularly to a control method, device, equipment and storage medium for an automatic emergency braking system. Background Art

[0002] An Autonomous Emergency Braking (AEB) system is a driving assistance system in a vehicle that can automatically detect potential collision risks and trigger the vehicle's braking system when necessary to avoid or reduce the severity of a collision.

[0003] In related technologies, the AEB system usually defines one or more braking trigger regions based on the vehicle's speed, the detection range of sensors, the braking distance, etc. When the perception frame of a target object around the vehicle enters the braking trigger region, the AEB system can perform a braking operation according to the setting to perform emergency avoidance.

[0004] However, due to factors such as the complexity of the vehicle driving scenario and the instability of sensors, the perception frame of the target object may jitter, so that when there is no longer a collision risk for the target object around the vehicle, the perception frame enters the braking trigger region due to jitter, resulting in an unexpected braking operation of the AEB. Summary of the Invention

[0005] This application provides a control method, device, equipment and storage medium for an automatic emergency braking system to solve the technical problems existing in related technologies. Specifically, the following technical solutions are included.

[0006] In a first aspect, this application provides a control method for an automatic emergency braking system, and the control method includes: obtaining a perception frame of a target object around the vehicle by the automatic emergency braking system; determining a first position change rate and a first speed change rate of the target object in a first time period according to the perception frame; determining whether the perception frame jitters according to the first position change rate and the first speed change rate; if the perception frame jitters, suppressing the braking operation of the automatic emergency braking system.

[0007] In some possible implementation manners, the control method further includes: determining whether the perception frame stops jittering according to a second position change rate and a second speed change rate of the target object in a second time period when the braking operation is suppressed; if the perception frame stops jittering, canceling the suppression of the emergency braking system.

[0008] In some possible embodiments, the control method further includes: when the automatic emergency braking system is inhibited, determining whether the sensing frame stops jittering according to a second position change rate and a second speed change rate of the target object within a second time period; if the sensing frame stops jittering, canceling the inhibition of the emergency braking system after a preset delay.

[0009] In some possible embodiments, determining whether there is jitter in the sensing frame of the target object according to the first position change rate and the first speed change rate includes: if the first position change rate exceeds a first change rate threshold and the first speed change rate exceeds a second change rate threshold, determining that there is jitter in the sensing frame; wherein, the first change rate threshold is greater than or equal to a first upper limit value of the position change rate of the target object within the first time period, and the first upper limit value is related to the motion characteristics of the target object; the second change rate threshold is greater than or equal to a second upper limit value of the speed change rate of the target object within the first time period, and the second upper limit value is related to the motion characteristics of the target object.

[0010] In some possible embodiments, determining whether the sensing frame stops jittering according to the second position change rate and the second speed change rate includes: if the second position change rate is less than the first change rate threshold or the second speed change rate is less than the second change rate threshold, determining that the sensing frame stops jittering; wherein, the first change rate threshold is greater than or equal to a first upper limit value of the position change rate of the target object within the first time period, and the first upper limit value is related to the motion characteristics of the target object; the second change rate threshold is greater than or equal to a second upper limit value of the speed change rate of the target object within the first time period, and the second upper limit value is related to the motion characteristics of the target object.

[0011] In some possible embodiments, the control method further includes: obtaining first test data when the sensing frame jitters during a test phase, where the first test data is the position and speed of the target object indicated when the sensing frame jitters; obtaining second test data when the sensing frame does not jitter during the test phase, where the second test data is the position and speed of the target object indicated when the sensing frame does not jitter, and wherein the test phase is used to simulate the motion states of the vehicle and the target object under different driving scenarios; determining the length of the preset time period according to the first test data and the second test data.

[0012] In some possible implementation manners, determining the length of the preset time period according to the first test data and the second test data includes: when it is determined according to the first test data that the perception frame jitters, determining a third position change rate and a third speed change rate of the target object within test time periods of different lengths; when it is determined according to the second test data that the perception frame does not jitter, determining a fourth position change rate and a fourth speed change rate of the target object within the test time periods of different lengths; determining the length of the test time period corresponding to the case where the third position change rate is greater than the fourth position change rate and the third speed change rate is greater than the fourth speed change rate as the reference value of the first time period, and the length of the first time period is less than or equal to the reference value.

[0013] In a second aspect, the present application provides a control device for an automatic emergency braking system, including: an acquisition module configured to acquire a perception frame of a target object around a vehicle by the automatic emergency braking system; a first determination module configured to determine a first position change rate and a first speed change rate of the target object within a first time period according to the perception frame; a second determination module configured to determine whether the perception frame jitters according to the first position change rate and the first speed change rate; and an execution module configured to, if the perception frame jitters, inhibit a braking operation of the automatic emergency braking system.

[0014] In some possible implementation manners, the second determination module is configured to determine whether the perception frame stops jittering according to a second position change rate and a second speed change rate of the target object within a second time period when the braking operation is inhibited; and the execution module is configured to cancel the inhibition of the emergency braking system if the perception frame stops jittering.

[0015] In some possible implementation manners, the second determination module determines whether the perception frame stops jittering according to a second position change rate and a second speed change rate of the target object within a second time period when the automatic emergency braking system is inhibited; and the execution module is configured to cancel the inhibition of the emergency braking system after a preset time delay if the perception frame stops jittering.

[0016] In some possible implementation manners, the second determination module is configured to determine that the perception frame jitters if the first position change rate exceeds a first change rate threshold and the first speed change rate exceeds a second change rate threshold; wherein, the first change rate threshold is greater than or equal to a first upper limit value of the position change rate of the target object within the first time period, and the first upper limit value is related to the motion characteristics of the target object; and the second change rate threshold is greater than or equal to a second upper limit value of the speed change rate of the target object within the first time period, and the second upper limit value is related to the motion characteristics of the target object.

[0017] In some possible embodiments, the second determination module is configured to determine that the sensing frame stops jittering if the second position change rate is less than the first change rate threshold or the second speed change rate is less than the second change rate threshold; wherein the first change rate threshold is greater than or equal to the first upper limit value of the position change rate of the target object within the first time period, and the first upper limit value is related to the motion characteristics of the target object; the second change rate threshold is greater than or equal to the second upper limit value of the speed change rate of the target object within the first time period, and the second upper limit value is related to the motion characteristics of the target object.

[0018] In some possible embodiments, the control device further includes a testing module configured to obtain first test data when the sensing frame jitters during a testing phase, where the first test data is the position and speed of the target object indicated when the sensing frame jitters; obtain second test data when the sensing frame does not jitter during the testing phase, where the second test data is the position and speed of the target object indicated when the sensing frame does not jitter, and wherein the testing phase is used to simulate the motion states of the vehicle and the target object in different driving scenarios; determine the length of the preset time period according to the first test data and the second test data.

[0019] In some possible embodiments, the testing module is configured to determine, according to the first test data, a third position change rate and a third speed change rate of the target object within different lengths of test time periods when the sensing frame jitters; determine, according to the second test data, a fourth position change rate and a fourth speed change rate of the target object within different lengths of the test time periods when the sensing frame does not jitter; and determine the length of the test time period corresponding to when the third position change rate is greater than the fourth position change rate and the third speed change rate is greater than the fourth speed change rate as the reference value of the first time period, and the length of the first time period is less than or equal to the reference value.

[0020] In a third aspect, the present application provides an electronic device for controlling an automatic emergency braking system, including: a memory storing at least one program instruction for controlling the automatic emergency braking system; a processor, when the program instruction is executed by the processor, enabling the vehicle to implement the control method in the first aspect or any possible implementation manner of the first aspect of the present application.

[0021] In a fourth aspect, the present application provides a computer program (product), where the computer program (product) includes computer program / instructions, and when the computer program / instructions are executed by a processor, enabling the vehicle to implement the control method in the first aspect or any possible implementation manner of the first aspect of the present application.

[0022] In a fifth aspect, the present application provides a computer-readable storage medium, on which program instructions for controlling an automatic emergency braking system are stored. When the program instructions are executed by one or more processors, the vehicle implements the control method in the first aspect or any possible implementation manner of the first aspect of the present application.

[0023] The beneficial effects of the technical solution provided by the present application at least include:

[0024] The technical solution provided by the present application makes full use of the characteristics that when the perception frame shakes, the position change rate and speed change rate of the target object indicated by the perception frame will mutate. It is possible to determine whether the perception frame of the target object has shaken according to the first position change rate and the first speed change rate of the target object in the first time period, and then take inhibitory measures against the situation during shaking for the automatic emergency braking system, greatly reducing the mis-touch rate of the automatic emergency braking system and improving the safety and reliability of the automatic emergency braking system. At the same time, the above method does not require additional acquisition of the original perception data of the automatic emergency braking system, which is beneficial to reducing the control threshold of the automatic emergency braking system and reducing the requirements for vehicle hardware and software. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic diagram of an implementation scenario provided by an embodiment of the present application;

[0027] Figure 2 It is a flowchart of a control method for an automatic emergency braking system provided by an embodiment of the present application;

[0028] Figure 3 It is a schematic structural diagram of a control device for an automatic emergency braking system provided by an embodiment of the present application;

[0029] Figure 4 It is a schematic structural diagram of an electronic device for controlling an automatic emergency braking system provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.

[0031] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0032] In view of the technical problem in the related art that the perception frame of the target object may jitter, resulting in an undesired braking operation of AEB, the embodiment of the present application provides a control method for an automatic emergency braking system. Based on the characteristics that the position change rate and speed change rate indicated by the perception frame jitter have a sudden change, which is usually greater than the upper limit values of the position change rate and speed change rate determined by the motion characteristics of the target object (such as including the power performance of the vehicle, tire performance, and driving strategies adopted according to traffic regulations, road environment, etc.), the possible perception frame jitter situation during the vehicle driving process can be determined, thereby suppressing the undesired braking operation.

[0033] Figure 1 is a schematic diagram of the implementation scenario provided by the embodiment of the present application. Refer to Figure 1 , the implementation scenario provided by the embodiment of the present application includes a vehicle 100. An automatic emergency braking system is installed in the vehicle 100. The automatic emergency braking system includes a control unit 111 and a braking execution unit 112.

[0034] The control unit 111 can identify and track a target object through the perception frame of the target object around the vehicle, and evaluate the collision risk of the target object. In some embodiments, the method for obtaining the perception frame of the target object may include, for example: obtaining the original perception data of the target object, and generating the perception frame of the target object according to the original perception data of the target object. The original perception data of the target object is used to indicate the sensor data obtained after the sensors mounted on the vehicle 100 perceive the target object around the vehicle. The sensors mounted on the vehicle 100 may include, for example, visual sensors, millimeter wave radars, and / or lidar, etc., any device that can perceive the target object around the vehicle. The method for generating the perception frame of the target object according to the original perception data of the target object can be adjusted according to the specific sensor configuration in the vehicle 100, and the present application does not make any restrictions in this regard.

[0035] The braking execution unit 112 can be the braking system of the vehicle 100, or any other device or equipment that can brake the vehicle. The braking execution unit 112 can establish a communication connection with the control unit 111 in a wired or wireless manner, so that the control unit 111 can control the braking execution unit 112, so that the automatic emergency braking system performs corresponding braking operations according to the perception frame of the target object. For example, when the perception frame of the target object shakes, the braking operation of the automatic emergency braking system is inhibited.

[0036] Optionally, the control unit 111 can be an in-vehicle terminal capable of implementing control functions. The control unit 11 can also be a server, or a server cluster composed of multiple servers. The present application does not make any restrictions in this regard.

[0037] Those skilled in the art should understand that the above-mentioned vehicle 100, control unit 111, and braking execution unit 112, as well as other existing or future possible vehicles or control units that can be applied to the present application, should also be included within the protection scope of the present application, and are hereby incorporated herein by reference.

[0038] Figure 2 is a flowchart of the control method of the automatic emergency braking system provided by the embodiment of the present application. This control method can be executed, for example, by the control unit of the automatic emergency braking system mounted in the vehicle. The present application does not make any restrictions in this regard. See Figure 2 For the automatic emergency braking system provided by the embodiment of the present application, the control method may include the following steps.

[0039] Step S210, obtain the perception frame of the target object around the vehicle by the automatic emergency braking system.

[0040] Exemplarily, target objects around the vehicle include, for example, other vehicles, pedestrians, and other traffic participants that are on the same road as the vehicle or in the same traffic environment as the vehicle. As described above, the perception frame of the target object can be generated based on the original perception data of the target object and can be used to, but is not limited to, indicating the position, size, category, speed, etc. of the target object. The automatic emergency braking system can be used to, but is not limited to, identify, track the target object based on the perception frame of the target object around the vehicle, evaluate the collision risk of the target object, and perform corresponding braking operations based on the perception frame of the target object.

[0041] Step S220, determine the first position change rate and the first speed change rate of the target object within the first time period according to the perception frame.

[0042] Optionally, the first time period includes, for example, a start endpoint and an end endpoint, and the start endpoint and the end endpoint can be adjusted according to the time period corresponding to the position change rate and the speed change rate that needs to be determined in the actual application scenario. For example, when it is necessary to determine the current position change rate and speed change rate of the vehicle, the end endpoint of the first time period is consistent with the current movement moment of the vehicle, and the start endpoint is the moment corresponding to subtracting the length of the first time period from the current movement moment of the vehicle.

[0043] As described above, the perception frame of the target object can be used to indicate the position and speed of the target object. In some embodiments, the perception frame of the target object includes, for example, the first perception frame of the target object at the first moment and the second perception frame of the target object at the second moment. The first perception frame can be used to indicate the position and speed of the target object at the first moment, and the second perception frame can be used to indicate the position and speed of the target object at the second moment. Among them, the first moment is the moment corresponding to the start endpoint of the first time period, and the second moment is the moment corresponding to the end endpoint of the first time period.

[0044] In view of this, determining the first position change rate and the first speed change rate of the target object within the first time period according to the perception frame includes, for example: determining the first position change rate and the first speed change rate of the target object within the preset time period according to the first perception frame and the second perception frame of the target object.

[0045] Among them, the method for determining the first position change rate of the target object within the first time period according to the first perception frame and the second perception frame of the target object can, for example, refer to the following formula (1):

[0046]

[0047] Among them, P is the first position change rate of the target object within the first time period, P history is the position of the target object indicated by the first perception frame at the first moment, P currentis the position of the target object indicated by the second sensing frame at the second moment, and T is the length of the first time period.

[0048] A method for determining the first speed change rate of a target object within a first time period based on the first sensing frame and the second sensing frame of the target object. For example, it can refer to formula (2) shown below:

[0049]

[0050] where V is the first speed change rate of the target object within the first time period, and V history is the speed of the target object indicated by the first sensing frame at the first moment, and V current is the speed of the target object indicated by the second sensing frame at the second moment, and T is the length of the first time period.

[0051] Considering that in the actual application scenario, the length of the first time period will affect the accuracy of the sensing frame jitter detection. For example, when the sensing frame of the target object jitters, the shorter the first time period, the more obvious the mutation of the position change rate and speed change rate indicated by the sensing frame; the longer the first time period, the less obvious the mutation of the position change rate and speed change rate indicated by the sensing frame, thereby affecting the accuracy of the detection of whether the sensing frame jitters.

[0052] In view of this, the control method of the automatic emergency braking system provided by the embodiments of the present application can also design the length of the preset time period to ensure the accuracy of the sensing frame jitter detection. The method provided by the embodiments of the present application includes, for example: obtaining the first test data when the sensing frame jitters during the test stage; obtaining the second test data when the sensing frame does not jitter during the test stage; determining the length of the preset time period according to the first test data and the second test data.

[0053] Among them, the first test data is the position and speed of the target object indicated when the sensing frame jitters, and the second test data is the position and speed of the target object indicated when the sensing frame does not jitter. The test stage is used to simulate the motion states of the vehicle and the target object in different driving scenarios.

[0054] The test stage can include, for example, a first test stage corresponding to when the sensing frame of the target object jitters and a second test stage corresponding to when the sensing frame of the target object does not jitter. The first test data can be obtained through the sensing frame of the target object in the first test stage, and the second test data can be obtained through the sensing frame of the target object in the second test stage.

[0055] In some embodiments, a method for determining the length of a preset time period based on first test data and second test data may include, for example: when it is determined from the first test data that the sensing frame jitters, determining the third position change rate and the third speed change rate of the target object within test time periods of different lengths; when it is determined from the second test data that the sensing frame does not jitter, determining the fourth position change rate and the fourth speed change rate of the target object within test time periods of different lengths; determining the length of the test time period corresponding to the case where the third position change rate is greater than the fourth position change rate and the third speed change rate is greater than the fourth speed change rate as the reference value of the first time period, and the length of the first time period is less than or equal to the reference value. Among them, the determination methods of the third position change rate and the fourth position change rate refer to the above formula (1), and the determination methods of the third speed change rate and the fourth speed change rate refer to the above formula (2), which will not be elaborated here.

[0056] The third position change rate and the third speed change rate can be used for but not limited to indicating the position change rate and the speed change rate of the target object within test time periods of different lengths when the sensing frame jitters; the fourth position change rate and the fourth speed change rate can be used for but not limited to indicating the position change rate and the speed change rate of the target object within test time periods of different lengths when the sensing frame does not jitter. The reference value of the first time period can be used for but not limited to indicating the critical value of the first time period. When the first time period is greater than the reference value, the position change rate and the speed change rate within the first time period cannot reflect the sudden change of the position change rate and the speed change rate indicated by the sensing frame. When the first time period is less than the reference value, the position change rate and the speed change rate within the first time period can reflect the sudden change of the position change rate and the speed change rate indicated by the sensing frame.

[0057] Step S230, determining whether the sensing frame jitters according to the first position change rate and the first speed change rate.

[0058] Since when the sensing frame of the target object jitters, the first position change rate and the first speed change rate of the target object within the first time period have sudden changes, that is, the position change rate and the speed change rate of the target object indicated when the sensing frame jitters within the first time period are greater than the upper limit values of the position change rate and the speed change rate determined by the motion characteristics of the target object.

[0059] In view of this, in some embodiments, determining whether there is jitter in the perception frame of the target object according to the first position change rate and the first speed change rate includes, for example: if the first position change rate exceeds the first change rate threshold and the first speed change rate exceeds the second change rate threshold, it is determined that there is jitter in the perception frame. Wherein, the first change rate threshold is greater than or equal to the first upper limit value of the position change rate of the target object within the first time period, and the first upper limit value is related to the motion characteristics of the target object. The second change rate threshold is greater than or equal to the second upper limit value of the speed change rate of the target object within the first time period, and the second upper limit value is related to the motion characteristics of the target object.

[0060] The first position change rate exceeding the first change rate threshold and the first speed change rate exceeding the second change rate threshold can be used to, but is not limited to, indicating that the position change rate and the speed change rate of the target object indicated by the perception frame exhibit mutability. The above method makes full use of the characteristic that the position change rate and the speed change rate of the target object indicated when the perception frame jitters are mutable, so that the embodiments of the present application can timely detect the possible jitter of the perception frame during driving according to the perception frame of the target object without the need to additionally obtain the original perception data of the sensor, reducing the requirements for the software and hardware of the vehicle.

[0061] Step S240, if there is jitter in the perception frame, inhibit the braking operation of the automatic emergency braking system.

[0062] By inhibiting the braking operation when the perception frame jitters, the embodiments of the present application can effectively avoid undesired braking operations, ensuring the safety and reliability of the automatic emergency braking system.

[0063] The control method of the automatic emergency braking system provided by the embodiments of the present application can also cancel the inhibition of the braking operation of the emergency braking system in time after the perception frame of the target object stops jittering, so as to further improve the safety and reliability of the automatic emergency braking system.

[0064] In some embodiments, the control method of the automatic emergency braking system provided by the embodiments of the present application includes, for example: when the braking operation is inhibited, determining whether the perception frame stops jittering according to the second position change rate and the second speed change rate of the target object within the second time period; if the perception frame stops jittering, cancel the inhibition of the emergency braking system. Wherein, the length of the second time period can be the same as the length of the first time period or can be set according to the actual application situation, and the present application does not make any limitation in this regard.

[0065] In view of the actual application scenario, due to the limited software and hardware resources of the automatic emergency braking system, after the sensing frame stops jittering, it may take a certain amount of time to complete the calibration of the system software and hardware to ensure the reliability of the sensing frame. In view of this, in some embodiments, the control method of the automatic emergency braking system provided by the embodiments of the present application includes, for example: when the automatic emergency braking system is inhibited, determining whether the sensing frame stops jittering according to the second position change rate and the second speed change rate of the target object within the second time period; if the sensing frame stops jittering, canceling the inhibition of the emergency braking system after a preset time delay. The length of the preset time delay can be adjusted according to the actual application scenario, and the present application does not impose any restrictions in this regard.

[0066] The technical solution provided by the present application makes full use of the characteristics that when the sensing frame jitters, the position change rate and the speed change rate of the target object indicated by the sensing frame will mutate. It is possible to determine whether the sensing frame of the target object has jittered according to the first position change rate and the first speed change rate of the target object within the first time period, and then take inhibitory measures against the automatic emergency braking system in the case of jitter, greatly reducing the false touch rate of the automatic emergency braking system and improving the safety and reliability of the automatic emergency braking system. At the same time, the above method does not require additional acquisition of the original sensing data of the automatic emergency braking system, which is beneficial to reducing the control threshold of the automatic emergency braking system and reducing the requirements for vehicle hardware and software.

[0067] In some other possible implementation manners, the present application further provides a control device for an automatic emergency braking system. Figure 3 is a schematic structural diagram of the control device for the automatic emergency braking system provided by the embodiments of the present application. Refer to Figure 3 The control device for the automatic emergency braking system provided by the embodiments of the present application includes: an acquisition module 310, a first determination module 320, a second determination module 330, and an execution module 340.

[0068] The acquisition module 310 is configured to acquire a sensing frame of a target object around the vehicle by the automatic emergency braking system.

[0069] The first determination module 320 is configured to determine a first position change rate and a first speed change rate of the target object within a first time period according to the sensing frame.

[0070] The second determination module 330 is configured to determine whether the sensing frame jitters according to the first position change rate and the first speed change rate.

[0071] The execution module 340 is configured to inhibit the braking operation of the automatic emergency braking system if the sensing frame jitters.

[0072] In some possible embodiments, the second determination module 330 is configured to determine whether the sensing frame stops jittering according to the second position change rate and the second speed change rate of the target object within a second time period when the braking operation is inhibited; the execution module 340 is configured to cancel the inhibition of the emergency braking system if the sensing frame stops jittering.

[0073] In some possible embodiments, the second determination module 330 determines whether the sensing frame stops jittering according to the second position change rate and the second speed change rate of the target object within a second time period when the automatic emergency braking system is inhibited; the execution module 340 is configured to cancel the inhibition of the emergency braking system after a preset time delay if the sensing frame stops jittering.

[0074] In some possible embodiments, the second determination module 330 is configured to determine that the sensing frame has jitter if the first position change rate exceeds a first change rate threshold and the first speed change rate exceeds a second change rate threshold; wherein, the first change rate threshold is greater than or equal to a first upper limit value of the position change rate of the target object within a first time period, and the first upper limit value is related to the motion characteristics of the target object; the second change rate threshold is greater than or equal to a second upper limit value of the speed change rate of the target object within a first time period, and the second upper limit value is related to the motion characteristics of the target object.

[0075] In some possible embodiments, the second determination module 330 is configured to determine that the sensing frame stops jittering if the second position change rate is less than the first change rate threshold or the second speed change rate is less than the second change rate threshold; wherein, the first change rate threshold is greater than or equal to a first upper limit value of the position change rate of the target object within a first time period, and the first upper limit value is related to the motion characteristics of the target object; the second change rate threshold is greater than or equal to a second upper limit value of the speed change rate of the target object within a first time period, and the second upper limit value is related to the motion characteristics of the target object.

[0076] In some possible embodiments, the control device further includes a test module, configured to obtain first test data indicating the position and speed of the target object when the sensing frame jitters during a test phase, the first test data being the position and speed of the target object indicated when the sensing frame jitters; obtain second test data indicating the position and speed of the target object when the sensing frame does not jitter during the test phase, the second test data being the position and speed of the target object indicated when the sensing frame does not jitter, wherein the test phase is used to simulate the motion states of the vehicle and the target object in different driving scenarios; determine the length of a preset time period according to the first test data and the second test data.

[0077] In some possible embodiments, when the test module is used to determine the jitter of the perception frame according to the first test data, the third position change rate and the third speed change rate of the target object within test periods of different lengths are determined; when the second test data is used to determine that the perception frame does not jitter, the fourth position change rate and the fourth speed change rate of the target object within test periods of different lengths are determined; the length of the test period corresponding to the case where the third position change rate is greater than the fourth position change rate and the third speed change rate is greater than the fourth speed change rate is determined as the reference value of the first period, and the length of the first period is less than or equal to the reference value.

[0078] In some other possible embodiments, the present application further provides an electronic device for controlling an automatic emergency braking system. Figure 4 is a schematic structural diagram of the electronic device for controlling an automatic emergency braking system provided by an embodiment of the present application. Refer to Figure 4 the electronic device for controlling an automatic emergency braking system provided by the embodiment of the present application:

[0079] A memory 410 stores at least one program instruction for controlling an automatic emergency braking system.

[0080] A processor 420, when the above program instruction is executed by the processor 420, enables the vehicle to implement the control method and the steps of its multiple embodiments described above in conjunction with Figure 2 According to different implementation manners, the processor 420 may be a CPU (central processing unit), a GPU (graphics processing unit), or one or more types of other general and / or special processors, including but not limited to a DSP (digital signal processor), an ASIC (application specific integrated circuit), an FPGA (field-programmable gate array), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., and the number thereof may be determined according to actual needs.

[0081] In some other possible embodiments, the present application further provides a computer program (product), and the computer program (product) includes computer programs / instructions. When the computer programs / instructions are executed by a processor, the vehicle is enabled to implement the control method and the steps of its multiple embodiments described above in conjunction with Figure 2 the above.

[0082] In some other possible embodiments, the present application further provides a computer-readable storage medium, on which program instructions for controlling an automatic emergency braking system are stored. When the program instructions are executed by one or more processors, the vehicle implements the control method and the steps of its multiple embodiments described above in conjunction with Figure 2 The computer-readable storage medium may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the readable storage medium (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0083] It should be noted that the electronic device in the present application may also be referred to as a display device. In addition, the information, data (including but not limited to image data, etc.) and signals involved in the present application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions.

[0084] It should also be noted that the terms "first", "second", etc. (if any) in the description and claims of the present application are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data may be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0085] The term "and / or" in the embodiments of the present application merely describes the association relationship of associated objects and indicates that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0086] The above description is only for the convenience of those skilled in the art to understand the technical solution of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for an automatic emergency braking system, characterized in that, The control method includes: Obtaining a perception box of a target object around the vehicle by the automatic emergency braking system; Determining a first position change rate and a first speed change rate of the target object within a first time period according to the perception box; Determining whether the perception box shakes according to the first position change rate and the first speed change rate; If the perception box shakes, suppressing the braking operation of the automatic emergency braking system.

2. The control method according to claim 1, wherein The control method further includes: When the braking operation is suppressed, determining whether the perception box stops shaking according to a second position change rate and a second speed change rate of the target object within a second time period; If the perception box stops shaking, canceling the suppression of the emergency braking system.

3. The control method according to claim 1, characterized in that The control method further includes: When the automatic emergency braking system is suppressed, determining whether the perception box stops shaking according to a second position change rate and a second speed change rate of the target object within a second time period; If the perception box stops shaking, canceling the suppression of the emergency braking system after a preset delay.

4. The control method according to claim 1, wherein Determining whether the perception box of the target object shakes according to the first position change rate and the first speed change rate includes: If the first position change rate exceeds a first change rate threshold and the first speed change rate exceeds a second change rate threshold, determining that the perception box shakes; Wherein, the first change rate threshold is greater than or equal to a first upper limit value of the position change rate of the target object within the first time period, and the first upper limit value is related to the motion characteristics of the target object; The second change rate threshold is greater than or equal to a second upper limit value of the speed change rate of the target object within the first time period, and the second upper limit value is related to the motion characteristics of the target object.

5. The control method according to claim 2 or 3, characterized in that, Determining whether the perception box stops shaking according to the second position change rate and the second speed change rate includes: If the second position change rate is less than the first change rate threshold, or the second speed change rate is less than the second change rate threshold, determining that the perception box stops shaking; Wherein, the first change rate threshold is greater than or equal to a first upper limit value of the position change rate of the target object within the first time period, and the first upper limit value is related to the motion characteristics of the target object; The second change rate threshold is greater than or equal to a second upper limit value of the speed change rate of the target object within the first time period, and the second upper limit value is related to the motion characteristics of the target object.

6. The control method according to any one of claims 1-4, characterized in that The control method further includes: Obtaining first test data when the perception box shakes during a test phase, where the first test data is the position and speed of the target object indicated when the perception box shakes; Obtaining second test data when the perception box does not shake during the test phase, where the second test data is the position and speed of the target object indicated when the perception box does not shake, and the test phase is used to simulate the motion states of the vehicle and the target object under different driving scenarios; Determining the length of the preset time period according to the first test data and the second test data.

7. The control method according to claim 6, wherein Determining the length of the preset time period according to the first test data and the second test data includes: When it is determined according to the first test data that the perception frame jitters, determining a third position change rate and a third speed change rate of the target object within test time periods of different lengths; When it is determined according to the second test data that the perception frame does not jitter, determining a fourth position change rate and a fourth speed change rate of the target object within the test time periods of different lengths; Determining the length of the test time period corresponding to the case where the third position change rate is greater than the fourth position change rate and the third speed change rate is greater than the fourth speed change rate as a reference value of the first time period, and the length of the first time period is less than or equal to the reference value.

8. A control device for an automatic emergency braking system, characterized in that, The control device includes: An acquisition module, configured to acquire a perception frame of a target object around the vehicle by the automatic emergency braking system; A first determination module, configured to determine a first position change rate and a first speed change rate of the target object within a first time period according to the perception frame; A second determination module, configured to determine whether the perception frame jitters according to the first position change rate and the first speed change rate; An execution module, configured to suppress a braking operation of the automatic emergency braking system if the perception frame jitters.

9. An electronic device, characterized in that, Including: A memory, on which program instructions for controlling an automatic emergency braking system are stored; And A processor, when the program instructions are executed by the processor, enabling the vehicle to implement the control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, On which program instructions for controlling an automatic emergency braking system are stored, and when the program instructions are executed by one or more processors, enabling the vehicle to implement the control method according to any one of claims 1-7.

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