Vehicle, control method and device thereof and AEB controller

Abstract

The invention discloses a vehicle, a control method and device thereof and an AEB controller, and relates to the technical field of vehicle control. According to the method, the center-of-gravity position of the vehicle can be obtained, and the braking acceleration of the AEB system of the vehicle can be flexibly adjusted based on the center-of-gravity position. The adjusted braking acceleration is the maximum braking acceleration that enables the yaw stability degree of the vehicle to be greater than a degree threshold value when braking is performed at the center-of-gravity position. Moreover, under the condition that the distance between the vehicle and the target obstacle in front of the vehicle is smaller than the safe braking distance, the method can control the vehicle to brake according to the adjusted braking acceleration. Therefore, according to the method provided by the invention, the gravity center position of the vehicle can be considered during braking, so that high yaw stability of the vehicle during braking can be ensured by adopting the braking acceleration adjusted based on the gravity center position for braking, and the safety of the vehicle during braking is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to a vehicle, a control method, a device, and an AEB controller thereof. Background Art

[0002] Vehicles include an autonomous emergency braking (AEB) system. During the driving process of a vehicle, the AEB system can calculate the distance between the vehicle and the vehicle in front, and in the case where the distance is less than the safe braking distance, perform emergency braking according to a preset braking acceleration.

[0003] However, for a vehicle with a large load, if the vehicle directly performs braking according to the preset braking acceleration, the stability of the vehicle will be poor. Summary of the Invention

[0004] The present invention provides a vehicle, a control method, a device, and an AEB controller thereof, which can solve the problem in the related art that if the vehicle directly performs braking according to the preset braking acceleration, the stability of the vehicle will be poor. The technical solutions are as follows:

[0005] On the one hand, a control method for a vehicle is provided, and the method includes:

[0006] Obtain the center of gravity position of the vehicle;

[0007] Based on the center of gravity position, adjust the braking acceleration of the AEB system of the vehicle, and the adjusted braking acceleration is the maximum braking acceleration that can make the yaw stability degree of the vehicle braking at the center of gravity position greater than the degree threshold;

[0008] Obtain the safe braking distance of the vehicle;

[0009] In the case where the distance between the vehicle and a target obstacle in front of the vehicle is less than the safe braking distance, control the vehicle to perform braking according to the adjusted braking acceleration.

[0010] Optionally, before adjusting the braking acceleration of the AEB system of the vehicle based on the center of gravity position, the method further includes:

[0011] Obtain the vehicle weight;

[0012] Adjusting the braking acceleration of the AEB system of the vehicle based on the center of gravity position includes:

[0013] Adjust the braking acceleration of the AEB system of the vehicle based on the center-of-gravity position and the vehicle weight. The adjusted braking acceleration is the maximum braking acceleration that can prevent the brakes of the vehicle braking at the center-of-gravity position and with the vehicle weight from being damaged, prevent the wheels of the vehicle from being damaged, and ensure that the yaw stability of the vehicle is greater than the degree threshold.

[0014] Optionally, the adjusting the braking acceleration of the AEB system of the vehicle based on the center-of-gravity position and the vehicle weight includes:

[0015] Obtain a first braking acceleration, which is the maximum braking acceleration that can prevent the brakes of the vehicle braking at the center-of-gravity position and with the vehicle weight from being damaged and ensure that the yaw stability of the vehicle is greater than the degree threshold;

[0016] Obtain a second braking acceleration, which is the maximum braking acceleration that can prevent the wheels of the vehicle braking at the center-of-gravity position and with the vehicle weight from being damaged and ensure that the yaw stability of the vehicle is greater than the degree threshold;

[0017] Adjust the braking acceleration of the AEB system of the vehicle to the smaller one of the first braking acceleration and the second braking acceleration.

[0018] Optionally, the obtaining the vehicle weight includes:

[0019] Obtain the load of each wheel of the vehicle;

[0020] Determine the vehicle weight based on the load of each wheel.

[0021] Optionally, the obtaining the safe braking distance of the vehicle includes:

[0022] Obtain the relative speed between the vehicle and the target obstacle;

[0023] Determine the safe braking distance based on the relative speed and the adjusted braking acceleration;

[0024] Wherein, the safe braking distance is positively correlated with the relative speed and negatively correlated with the adjusted braking acceleration.

[0025] Optionally, the obtaining the center-of-gravity position of the vehicle includes:

[0026] Obtain the acceleration and angular velocity of the vehicle;

[0027] Determine the center-of-gravity position of the vehicle based on the acceleration and the angular velocity.

[0028] On the other hand, a control device for a vehicle is provided, the device comprising:

[0029] A first acquisition module configured to acquire the center-of-gravity position of the vehicle;

[0030] An adjustment module configured to adjust the braking acceleration of the AEB system of the vehicle based on the center-of-gravity position, and the adjusted braking acceleration is the maximum braking acceleration that can make the yaw stability of the vehicle braking at the center-of-gravity position greater than a degree threshold;

[0031] A second acquisition module configured to acquire the safe braking distance of the vehicle;

[0032] A control module configured to control the vehicle to brake at the adjusted braking acceleration when the distance between the vehicle and a target obstacle in front of the vehicle is less than the safe braking distance.

[0033] In yet another aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the vehicle control method described in the above aspect is implemented.

[0034] In still another aspect, an AEB controller is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the vehicle control method described in the above aspect is implemented.

[0035] In still another aspect, a vehicle is provided, comprising the AEB controller described in the above aspect.

[0036] The beneficial effects brought by the technical solution provided by the present invention at least include:

[0037] The present application provides a vehicle and its control method, device, and AEB controller. The method can acquire the center-of-gravity position of the vehicle and flexibly adjust the braking acceleration of the AEB system of the vehicle based on the center-of-gravity position. The adjusted braking acceleration is the maximum braking acceleration that can make the yaw stability of the vehicle braking at the center-of-gravity position greater than a degree threshold. Moreover, when the distance between the vehicle and a target obstacle in front of the vehicle is less than the safe braking distance, the method can control the vehicle to brake at the adjusted braking acceleration. Thus, it can be seen that the method provided by the present application can consider the center-of-gravity position of the vehicle during braking, that is, it can fully consider the influence of the center-of-gravity offset on the yaw stability of the vehicle. Therefore, braking with the braking acceleration adjusted based on the center-of-gravity position can ensure that the vehicle has a high yaw stability during braking, thereby improving the safety of the vehicle during braking and reducing the risk of vehicle out-of-control caused by the center-of-gravity offset.

[0038] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Description of the Drawings

[0039] Figure 1 is a flowchart of a vehicle control method provided by an embodiment of the present application;

[0040] Figure 2 is a flowchart of another vehicle control method provided by an embodiment of the present application;

[0041] Figure 3 is a flowchart of adjusting the braking acceleration of the AEB system of a vehicle provided by an embodiment of the present application;

[0042] Figure 4 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application;

[0043] Figure 5 is a schematic structural diagram of another vehicle control device provided by an embodiment of the present application;

[0044] Figure 6 is a schematic structural diagram of an AEB controller provided by an embodiment of the present application. Detailed Embodiments

[0045] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0046] Figure 1 is a flowchart of a vehicle control method provided by an embodiment of the present application. This method is applied to a vehicle controller, such as an AEB controller of the vehicle. Refer to Figure 1 , the method includes:

[0047] Step 101, obtain the center of gravity position of the vehicle.

[0048] In the embodiment of the present application, the AEB controller of the vehicle can obtain the acceleration and angular velocity of the vehicle, and determine the center of gravity position of the vehicle based on the acceleration and angular velocity.

[0049] Step 102, adjust the braking acceleration of the AEB system of the vehicle based on the center of gravity position.

[0050] Among them, the adjusted braking acceleration is the maximum braking acceleration that can make the yaw stability of the vehicle greater than the degree threshold when the vehicle brakes at this center of gravity position. That is, when the vehicle brakes at this center of gravity position, the yaw stability of the vehicle is relatively high.

[0051] Step 103: Obtain the safe braking distance of the vehicle.

[0052] The AEB controller can determine the safe braking distance of the vehicle according to the adjusted braking acceleration. Among them, the safe braking distance is negatively correlated with the adjusted braking acceleration.

[0053] Step 104: When the distance between the vehicle and the target obstacle in front of the vehicle is less than the safe braking distance, control the vehicle to brake according to the adjusted braking acceleration.

[0054] The AEB controller can obtain the distance between the vehicle and the target obstacle and detect whether the distance is less than the safe braking distance. If the AEB controller determines that the distance between the vehicle and the target obstacle is greater than or equal to the safe braking distance, it can continue to detect whether the distance is less than the safe braking distance. If the AEB controller determines that the distance between the vehicle and the target obstacle is less than the safe braking distance, it can control the vehicle to brake according to the adjusted braking acceleration.

[0055] In summary, the embodiment of the present application provides a control method for a vehicle. This method can obtain the center of gravity position of the vehicle and flexibly adjust the braking acceleration of the AEB system of the vehicle based on this center of gravity position. The adjusted braking acceleration is the maximum braking acceleration that can make the yaw stability of the vehicle greater than the degree threshold when braking at this center of gravity position. And, when the distance between the vehicle and the target obstacle in front of the vehicle is less than the safe braking distance, this method can control the vehicle to brake according to the adjusted braking acceleration. It can be seen that the method provided by the embodiment of the present application can consider the center of gravity position of the vehicle when braking, that is, it can fully consider the influence of the center of gravity offset on the yaw stability of the vehicle. Therefore, braking with the braking acceleration adjusted based on the center of gravity position can ensure that the yaw stability of the vehicle is relatively high when braking, thereby improving the safety of the vehicle when braking and reducing the risk of vehicle out of control caused by the center of gravity offset.

[0056] Figure 2 is a flowchart of another control method for a vehicle provided by the embodiment of the present application. This method can be applied to the AEB controller of the vehicle. Refer to Figure 2 and this method may include:

[0057] Step 201: Obtain the vehicle weight.

[0058] After the vehicle starts, the AEB controller of the vehicle can obtain the loads of each wheel of the vehicle, and then determine the current vehicle weight based on the loads of each wheel. Among them, the vehicle weight is positively correlated with the loads of each wheel. Specifically, the AEB controller can establish a dynamic model of the vehicle and can determine the vehicle weight based on this dynamic model and the loads of each wheel.

[0059] Optionally, a tire pressure sensor is provided at each wheel of the vehicle, and the tire pressure sensor can collect the tire pressure of the wheel. The vehicle further includes a body controller, and the body sensor can be respectively connected to the tire pressure sensor and the AEB controller. The tire pressure sensors of each wheel can send the collected tire pressure of the wheel to the body controller. The body controller can determine the load of the wheel based on the tire pressure and send the load to the AEB controller. Accordingly, the AEB controller can obtain the load of the wheel.

[0060] Step 202: Obtain the center of gravity position of the vehicle.

[0061] The center of gravity position of the vehicle may shift, and after the center of gravity position of the vehicle shifts, it will affect the yaw stability of the vehicle during braking. Based on this, after the vehicle starts, the AEB controller of the vehicle can obtain (such as obtain in real time) the center of gravity position of the vehicle. Among them, the center of gravity position can refer to the coordinates of the center of gravity of the vehicle in the body coordinate system. The body coordinate system can be a three-dimensional coordinate system established with the center point of the vehicle as the origin, the length direction of the vehicle as the positive x-axis direction, the width direction of the vehicle as the positive y-axis direction, and the height direction of the vehicle as the positive z-axis direction.

[0062] In the embodiment of the present application, the AEB controller can obtain the acceleration and angular velocity of the vehicle and determine the current center of gravity position of the vehicle based on the acceleration and angular velocity. Specifically, the AEB controller can establish a dynamic model of the vehicle and can determine the center of gravity position of the vehicle based on this dynamic model, the acceleration, angular velocity and vehicle weight of the vehicle.

[0063] It can be understood that the vehicle can include an inertial measurement unit (IMU), and the IMU can collect the acceleration and angular velocity of the vehicle. The IMU can be connected to the AEB controller and can send the acceleration and angular velocity to the AEB controller. Accordingly, the AEB controller can obtain the acceleration and angular velocity.

[0064] Step 203: Adjust the braking acceleration of the AEB system of the vehicle based on the center of gravity position and vehicle weight of the vehicle.

[0065] After the AEB controller obtains the center-of-gravity position and vehicle weight of the vehicle, it can flexibly adjust the braking acceleration of the AEB system based on the center-of-gravity position and vehicle weight to optimize the braking strategy. Among them, the adjusted braking acceleration is the maximum braking acceleration that can ensure that the brakes of the vehicle braking at this center-of-gravity position and vehicle weight will not be damaged, the wheels will not be damaged, and the yaw stability degree is greater than the degree threshold.

[0066] See Figure 3 , the process of the AEB controller adjusting the braking acceleration of the AEB system based on the center-of-gravity position and vehicle weight of the vehicle may include:

[0067] Step 2031, obtain the first braking acceleration.

[0068] The first braking acceleration is the maximum braking acceleration that can ensure that the brakes of the vehicle braking at the current center-of-gravity position and vehicle weight will not be damaged, and the yaw stability degree of the vehicle is greater than the degree threshold.

[0069] In the embodiment of the present application, the AEB controller may store a braking dynamics model of the vehicle. The AEB controller may determine, according to the braking dynamics model, the braking torque allocated to the brakes of each wheel of the vehicle when the vehicle brakes at the current vehicle weight and center-of-gravity position. After the braking torque allocated to the brake of any one of the multiple wheels reaches the rated braking torque of the assembled brake, the AEB controller may determine the current braking acceleration of the vehicle as the first braking acceleration.

[0070] Among them, the rated braking torque of the brakes assembled on each wheel is pre-stored in the AEB controller. The rated braking torque depends on the model of the brake, and the rated braking torque may be marked on the parameter nameplate of the brake.

[0071] Exemplarily, when the model of the brake assembled on the wheel is determined, assuming that the rated braking torques of the brakes of the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle are fixed values of 100 (Newton-meter, N·m), 100 N·m, 80 N·m, and 80 N·m respectively. When the braking acceleration is a1, due to load transfer, according to the vehicle dynamics model, braking torques of 100 N·m, 95 N·m, 60 N·m, and 55 N·m need to be allocated to the brakes of the left front wheel, right front wheel, left rear wheel, and right rear wheel respectively. Since the braking torque allocated to the brake of the left front wheel has reached the rated braking torque of the brake, 100 N·m, the AEB controller may determine the current braking acceleration a1 of the vehicle as the first braking acceleration.

[0072] It can be understood that braking according to the first braking acceleration can ensure that the vehicle's brakes always remain within the optimal load range. Therefore, problems such as overheating and uneven wear of the brakes caused by excessive load can be avoided, thereby improving braking efficiency and response speed and reducing the life attenuation of the brakes. And because the position of the center of gravity can be considered, the yaw of the vehicle can be effectively controlled during braking, the vehicle can be kept stable, the risk of vehicle out-of-control caused by braking can be reduced, and the safety and stability during emergency braking can be improved.

[0073] Step 2032: Obtain the second braking acceleration.

[0074] The second braking acceleration is the maximum braking acceleration that can prevent the wheels of the vehicle braking at the current center-of-gravity position and vehicle weight from being damaged, and the yaw stability degree of the vehicle is greater than the degree threshold.

[0075] In the embodiment of the present application, the AEB controller may store a load dynamics model of the vehicle. The AEB controller may determine, according to the load dynamics model, the loads borne by each wheel during the braking process of the vehicle at the current center-of-gravity position and vehicle weight. When the load borne by any wheel reaches the rated load value of the wheel, the AEB controller may determine the current braking acceleration of the vehicle as the second braking acceleration of the vehicle.

[0076] Among them, the rated load of each wheel may be pre-stored in the AEB controller. The rated load of the wheel refers to the rated load of the tire assembled on the wheel. The rated load depends on the model of the tire assembled on the wheel, and the rated load may be marked on the parameter nameplate of the tire.

[0077] Exemplarily, when the tire model assembled on the wheel is determined, assume that the rated loads of the four wheels of the vehicle, namely the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, are fixed values of 1000 (kilograms, Kg), 1000 Kg, 1500 Kg, and 1500 KG respectively. When the braking acceleration is a2, due to load transfer, according to the load dynamics model of the vehicle, the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel bear loads of 1000 Kg, 900 Kg, 1100 Kg, and 1200 Kg respectively. Since the load of the left front wheel has reached the rated load of 1000 Kg of the left front wheel at this time, the AEB controller may determine the current braking acceleration a2 of the vehicle as the second braking acceleration.

[0078] It can be understood that braking according to the second braking acceleration can effectively avoid excessive load on the wheels during braking, thereby reducing wheel wear and the life attenuation of the wheels, and ensuring the stability of the vehicle during braking.

[0079] Step 2033: Adjust the braking acceleration of the AEB system to the smaller one between the first braking acceleration and the second braking acceleration.

[0080] After the AEB controller obtains the first braking acceleration and the second braking acceleration, it can compare the magnitudes of the first braking acceleration and the second braking acceleration to determine the smaller one between the first braking acceleration and the second braking acceleration. Then, the AEB controller can adjust the braking acceleration of the AEB system to this smaller braking acceleration.

[0081] Since the adjusted braking acceleration is the smaller one between the first braking acceleration and the second braking acceleration, braking according to the adjusted braking acceleration can, on the one hand, optimize the load of the vehicle's brake, avoid damaging the brake, thereby reducing the life attenuation of the brake and lowering the vehicle's usage cost; on the other hand, it can reduce the damage to the wheels, reduce the life attenuation of the wheels, lower the vehicle's usage cost, and improve the overall economy of the vehicle; on the other hand, during the braking process, especially in the case of center of gravity shift, it can effectively control the yaw of the vehicle, enhance the yaw stability of the vehicle, thereby effectively reducing the out-of-control risk caused by braking, improving the safety and stability of the vehicle during emergency braking, and ensuring the safe driving of the vehicle.

[0082] Step 204: Obtain the safe braking distance of the vehicle.

[0083] In the embodiment of the present application, the AEB controller can obtain the relative speed between the vehicle and the target obstacle in front of the vehicle. Then, the AEB controller can determine the safe braking distance based on this relative speed and the adjusted braking acceleration. Among them, the safe braking distance is positively correlated with the relative speed and negatively correlated with the adjusted braking acceleration. The target obstacle can be a vehicle, a pedestrian, or other obstacles, etc.

[0084] It can be understood that the AEB controller can pre-store a safe distance model. The AEB controller can determine the safe braking distance of the vehicle based on this relative speed, the adjusted braking acceleration, and the safe distance model. Optionally, the safe distance model can be the SeungwukMoon model, the Mazda model, or the Honda model.

[0085] Exemplarily, assuming the safe distance model is the SeungwukMoon model, the safe braking distance dbr determined by the AEB controller based on this relative speed, the adjusted braking acceleration, and this safe distance model can satisfy: dbr = V rel ×T delay +f(μ)×((2V - V rel )×V rel / 2a). Wherein, Vrel is the relative speed between the vehicle and the target obstacle, T delay is the system delay time, usually 1.2 seconds (s). f(μ) is the braking factor, usually taking f(μ)=1.0. V is the speed of the vehicle. a is the adjusted braking acceleration.

[0086] Optionally, when the AEB controller determines that there is a target obstacle in front of the vehicle, it can obtain the speed of the vehicle and the speed of the target obstacle. And, the AEB controller can determine the relative speed between the vehicle and the target obstacle based on the speed of the vehicle and the speed of the target obstacle.

[0087] In the embodiments of the present application, a sensing sensor is installed in the vehicle. The AEB controller can determine whether there is a target obstacle in front of the vehicle through the sensing sensor. Optionally, the sensing sensor may include at least one of a radar and a camera. The radar may be at least one of a millimeter-wave radar and a lidar.

[0088] Step 205, detect whether the distance between the vehicle and the target obstacle in front of the vehicle is less than the safe braking distance.

[0089] If the AEB controller determines that the distance between the vehicle and the target obstacle in front of the vehicle is less than the safe braking distance, it can determine that there is a collision risk between the vehicle and the target obstacle, and then step 206 can be continued. If the AEB controller determines that the distance between the vehicle and the target obstacle is greater than or equal to the safe braking distance, it can determine that there is no collision risk between the vehicle and the target obstacle, and then step 205 can be continued.

[0090] Step 206, control the vehicle to brake according to the adjusted braking acceleration.

[0091] If the AEB controller determines that the distance between the vehicle and the target obstacle in front of the vehicle is less than the safe braking distance, it can control the vehicle to brake according to the adjusted braking acceleration to avoid the collision risk to the greatest extent, and can effectively reduce the wear of the brake and the wheels during the process of avoiding the collision risk, and ensure that the yaw stability of the vehicle is relatively high.

[0092] Specifically, the vehicle further includes a braking system. When the AEB controller determines that the distance between the vehicle and the target obstacle in front is less than the safe braking distance, it can send a braking instruction to the braking system. The braking instruction includes the adjusted braking acceleration. The braking system responds to the braking instruction and can control the vehicle to brake according to the adjusted braking acceleration.

[0093] Currently, during the driving process of a vehicle, the AEB system of the vehicle can calculate the distance between the vehicle and the vehicle in front, and in the case where this distance is less than the safe braking distance, perform emergency braking according to a preset braking acceleration. However, the existing AEB system does not consider the change in the center-of-gravity position of the vehicle, that is, the influence of the center-of-gravity transfer on the braking performance and stability, especially for vehicle types such as trucks where the load has a significant impact on the center of gravity.

[0094] When a truck brakes, due to inertia, the center of gravity of the vehicle will shift significantly forward. This forward shift phenomenon has the following multi-faceted impacts on the braking performance of the truck: First, the load on the front wheels increases, resulting in a risk of locking. Specifically, the forward shift of the center of gravity causes a significant increase in the load borne by the front wheels of the truck, thereby increasing the adhesion of the front wheels. The increase in adhesion enables the front wheels to provide greater braking force during braking, which to a certain extent helps to shorten the braking distance. However, if the braking force of the front wheels is too large, it may also cause the front wheels to lock, increasing the risk of tire wear and vehicle out of control. Second, the load on the rear wheels decreases, resulting in a risk of skidding. Specifically, the load borne by the rear wheels decreases due to the forward shift of the center of gravity, and the adhesion also decreases accordingly. This causes the rear wheels to be more prone to skidding during braking, especially on wet roads or in the case of emergency braking. Rear-wheel skidding not only reduces the braking efficiency but may also trigger safety hazards such as vehicle out of control or sideslip. Third, the vehicle stability decreases. Specifically, if the center of gravity is not on the central axis of the entire vehicle, then during high-speed braking or emergency braking, the vehicle may generate lateral torsion. This torsion not only increases the risk of yaw out of control but may also lead to serious safety accidents such as vehicle rollover. That is, the forward shift of the center of gravity may have an adverse impact on the stability of the truck.

[0095] The method provided by the embodiment of the present application can flexibly adjust the braking acceleration of the AEB system according to the vehicle weight and the center-of-gravity position. That is to say, in the complex situations of different loads and uneven placement of goods, this method can intelligently adjust the braking acceleration of the AEB system so that the adjusted braking acceleration is adapted to the current vehicle weight and the center-of-gravity position. Thus, in the case where the distance between the vehicle and the target obstacle in front of the vehicle is less than the safe braking distance, controlling the vehicle to brake according to the adjusted braking acceleration can avoid damaging the vehicle's brakes and wheels, and can enable the vehicle to maintain excellent yaw stability under various load and goods placement conditions.

[0096] It can be understood that the sequence of steps of the vehicle control method provided by the embodiment of the present application can be appropriately adjusted, and the steps can also be increased or decreased accordingly according to the situation. For example, step 202 can be deleted according to the situation. Any method of change that can be easily thought of by any person skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application, so it will not be elaborated here.

[0097] In summary, the embodiment of the present application provides a control method for a vehicle. This method can obtain the center-of-gravity position of the vehicle and flexibly adjust the braking acceleration of the AEB system of the vehicle based on this center-of-gravity position. The adjusted braking acceleration is the maximum braking acceleration that can make the yaw stability degree of the vehicle during braking at this center-of-gravity position greater than the degree threshold. And, when the distance between the vehicle and the target obstacle in front of the vehicle is less than the safe braking distance, this method can control the vehicle to brake according to the adjusted braking acceleration. Thus, it can be seen that the method provided by the embodiment of the present application can consider the center-of-gravity position of the vehicle during braking, that is, it can fully consider the influence of the center-of-gravity offset on the yaw stability of the vehicle. Therefore, braking with the braking acceleration adjusted based on the center-of-gravity position can ensure that the vehicle has a relatively high yaw stability during braking, thereby improving the safety of the vehicle during braking and reducing the risk of vehicle out-of-control caused by the center-of-gravity offset.

[0098] The embodiment of the present application provides a control device for a vehicle, and this device can be used to execute the control method for the vehicle provided by the above method embodiment. Refer to Figure 4 , the device 300 includes:

[0099] The first acquisition module 301 is used to acquire the center-of-gravity position of the vehicle.

[0100] The adjustment module 302 is used to adjust the braking acceleration of the AEB system of the vehicle based on the center-of-gravity position. The adjusted braking acceleration is the maximum braking acceleration that can make the yaw stability degree of the vehicle during braking at the center-of-gravity position greater than the degree threshold.

[0101] The second acquisition module 303 is used to acquire the safe braking distance of the vehicle.

[0102] The control module 304 is used to control the vehicle to brake according to the adjusted braking acceleration when the distance between the vehicle and the target obstacle in front of the vehicle is less than the safe braking distance.

[0103] Optionally, refer to Figure 5 , the device 300 may further include:

[0104] The third acquisition module 305 is used to acquire the vehicle weight before adjusting the braking acceleration of the AEB system of the vehicle based on the center-of-gravity position.

[0105] The adjustment module 302 can be used for:

[0106] Adjust the braking acceleration of the AEB system of the vehicle based on the center-of-gravity position and the vehicle weight. The adjusted braking acceleration is the maximum braking acceleration that can ensure that the brakes of the vehicle braking at the center-of-gravity position and vehicle weight will not be damaged, the wheels of the vehicle will not be damaged, and the yaw stability of the vehicle is greater than the degree threshold.

[0107] Optionally, the adjustment module 302 can be used to:

[0108] Obtain a first braking acceleration, which is the maximum braking acceleration that can ensure that the brakes of the vehicle braking at the center-of-gravity position and vehicle weight will not be damaged and the yaw stability of the vehicle is greater than the degree threshold.

[0109] Obtain a second braking acceleration, which is the maximum braking acceleration that can ensure that the wheels of the vehicle braking at the center-of-gravity position and vehicle weight will not be damaged and the yaw stability of the vehicle is greater than the degree threshold.

[0110] Adjust the braking acceleration of the AEB system of the vehicle to the smaller one of the first braking acceleration and the second braking acceleration.

[0111] Optionally, the third acquisition module 305 can be used to:

[0112] Obtain the loads of the respective wheels of the vehicle;

[0113] Determine the vehicle weight based on the loads of the respective wheels.

[0114] Optionally, the second acquisition module 303 can be used to:

[0115] Obtain the relative speed between the vehicle and the target obstacle;

[0116] Determine a safe braking distance based on the relative speed and the adjusted braking acceleration;

[0117] Wherein, the safe braking distance is positively correlated with the relative speed and negatively correlated with the adjusted braking acceleration.

[0118] Optionally, the first acquisition module 301 can be used to:

[0119] Obtain the acceleration and angular velocity of the vehicle;

[0120] Determine the center-of-gravity position of the vehicle based on the acceleration and angular velocity.

[0121] In summary, the embodiment of the present application provides a control device for a vehicle. The device can obtain the center-of-gravity position of the vehicle and flexibly adjust the braking acceleration of the AEB system of the vehicle based on the center-of-gravity position. The adjusted braking acceleration is the maximum braking acceleration that can make the yaw stability of the vehicle greater than the degree threshold when braking at the center-of-gravity position. Moreover, when the distance between the vehicle and the target obstacle in front of the vehicle is less than the safe braking distance, the device can control the vehicle to brake according to the adjusted braking acceleration. Thus, it can be seen that the device provided by the embodiment of the present application can consider the center-of-gravity position of the vehicle during braking, that is, it can fully consider the influence of the center-of-gravity offset on the yaw stability of the vehicle. Therefore, braking with the braking acceleration adjusted based on the center-of-gravity position can ensure that the vehicle has a high yaw stability during braking, thereby improving the safety of the vehicle during braking and reducing the risk of vehicle out-of-control caused by the center-of-gravity offset.

[0122] The embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the vehicle control method provided by the above method embodiment. For example Figure 1 Or Figure 2 The method shown.

[0123] Figure 6 is a schematic structural diagram of an AEB controller provided by the embodiment of the present application. As Figure 6 shown, the AEB controller 400 includes: a processor 401 and a memory 403. Among them, the processor 401 and the memory 403 are connected, such as connected through a bus 402.

[0124] The processor 401 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor 401 may also be a combination that realizes computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0125] The bus 402 may include a path for transmitting information among the above components. The bus 402 can be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 402 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 6 only a thick line is used to represent it in Figure 6 , but it does not mean that there is only one bus or one type of bus.

[0126] The memory 403 is used to store a computer program corresponding to the vehicle control method provided in the foregoing embodiments of the present application, and this computer program is controlled and executed by the processor 401. The processor 401 is used to execute the computer program stored in the memory 403 to implement the content shown in the foregoing method embodiments.

[0127] It should be noted that the logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or more wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, a computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, then editing, interpreting, or otherwise processing it as appropriate, and then storing it in a computer memory.

[0128] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0129] In the description of this specification, the descriptions referring to the terms "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 present invention. In this specification, the schematic representations 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 any one or more embodiments or examples in a suitable manner.

[0130] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0131] In addition, the terms "first", "second", etc. used in the embodiments of the present application are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in this embodiment. Thus, the features defined with the terms "first", "second", etc. in the embodiments of the present application can explicitly or implicitly indicate that at least one such feature is included in this embodiment. In the description of the present invention, the meaning of the word "plurality" is at least two or more than two, such as two, three, four, etc., unless otherwise specifically defined in the embodiment.

[0132] In the present invention, unless otherwise clearly specified or limited in the embodiments, terms such as "installed", "connected", "joined" and "fixed" in the embodiments shall be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or integrated; it can be understood as a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the communication inside two elements, or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific implementation situations.

[0133] In the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0134] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for a vehicle, characterized in that, The method includes: Obtaining the center of gravity position of the vehicle; Based on the center of gravity position, adjusting the braking acceleration of the AEB system of the vehicle, and the adjusted braking acceleration is the maximum braking acceleration that can make the yaw stability of the vehicle braking at the center of gravity position greater than the degree threshold; Obtaining the safe braking distance of the vehicle; When the distance between the vehicle and a target obstacle in front of the vehicle is less than the safe braking distance, controlling the vehicle to brake according to the adjusted braking acceleration.

2. The method according to claim 1, wherein Before adjusting the braking acceleration of the AEB system of the vehicle based on the center of gravity position, the method further includes: Obtaining the vehicle weight; The adjusting the braking acceleration of the AEB system of the vehicle based on the center of gravity position includes: Based on the center of gravity position and the vehicle weight, adjusting the braking acceleration of the AEB system of the vehicle, and the adjusted braking acceleration is the maximum braking acceleration that can make the brakes of the vehicle braking at the center of gravity position and the vehicle weight not damaged, the wheels of the vehicle not damaged, and the yaw stability of the vehicle greater than the degree threshold.

3. The method according to claim 2, wherein The adjusting the braking acceleration of the AEB system of the vehicle based on the center of gravity position and the vehicle weight includes: Obtaining a first braking acceleration, where the first braking acceleration is the maximum braking acceleration that can make the brakes of the vehicle braking at the center of gravity position and the vehicle weight not damaged and the yaw stability of the vehicle greater than the degree threshold; Obtaining a second braking acceleration, where the second braking acceleration is the maximum braking acceleration that can make the wheels of the vehicle braking at the center of gravity position and the vehicle weight not damaged and the yaw stability of the vehicle greater than the degree threshold; Adjusting the braking acceleration of the AEB system of the vehicle to the smaller braking acceleration of the first braking acceleration and the second braking acceleration.

4. The method according to claim 2, characterized in that, The obtaining the vehicle weight includes: Obtaining the load of each wheel of the vehicle; Based on the load of each wheel, determining the vehicle weight.

5. The method according to any one of claims 1 to 4, characterized in that, The obtaining the safe braking distance of the vehicle includes: Obtaining the relative speed between the vehicle and the target obstacle; Based on the relative speed and the adjusted braking acceleration, determining the safe braking distance; Wherein, the safe braking distance is positively correlated with the relative speed and negatively correlated with the adjusted braking acceleration.

6. The method according to any one of claims 1 to 4, characterized in that, The obtaining the center of gravity position of the vehicle includes: Obtaining the acceleration and angular velocity of the vehicle; Based on the acceleration and the angular velocity, determining the center of gravity position of the vehicle.

7. A control device for a vehicle, characterized in that, The device includes: A first obtaining module, configured to obtain the center of gravity position of the vehicle; An adjusting module, configured to adjust the braking acceleration of the AEB system of the vehicle based on the center of gravity position, and the adjusted braking acceleration is the maximum braking acceleration that can make the yaw stability of the vehicle braking at the center of gravity position greater than the degree threshold; A second obtaining module, configured to obtain the safe braking distance of the vehicle; A control module, configured to control the vehicle to brake according to the adjusted braking acceleration when the distance between the vehicle and a target obstacle in front of the vehicle is less than the safe braking distance.

8. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and when the computer program is executed by a processor, it implements the vehicle control method according to any one of claims 1 to 6.

9. An AEB controller, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the vehicle control method according to any one of claims 1 to 6.

10. A vehicle, characterized in that, It includes the AEB controller according to claim 9.

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