Automatic emergency braking target obstacle screening method, device and equipment and vehicle

Abstract

The invention discloses an automatic emergency braking target obstacle screening method, device and equipment and a vehicle, and relates to the technical field of vehicles. The automatic emergency braking target obstacle screening method comprises the steps that motion information of a vehicle and motion information and category attribute information of a plurality of obstacles around the vehicle are obtained; according to the category attribute information of the plurality of obstacles, dividing the plurality of obstacles into a multi-category obstacle set; predicting a motion track area of the vehicle according to the motion information of the vehicle; according to the motion information of the vehicle, the motion information of each obstacle contained in each type of obstacle set and the motion condition of the obstacle in the motion track area of the vehicle, the collision time between each obstacle contained in each type of obstacle set and the vehicle is determined; and screening out a target obstacle from the plurality of obstacles according to the collision time between each obstacle included in each type of obstacle set and the vehicle. The target obstacle screening accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, equipment, and vehicle for screening target obstacles for automatic emergency braking. Background Art

[0002] In existing automatic emergency braking target obstacle screening technology, for all obstacles identified around the vehicle, the collision time between each obstacle and the vehicle is usually directly calculated before further screening out the target obstacles. This implementation does not take into account the movement trend of each obstacle relative to the vehicle, resulting in low target obstacle screening accuracy. Summary of the Invention

[0003] The main purpose of the embodiments of the present application is to provide a method, device, equipment and vehicle for screening target obstacles for automatic emergency braking, aiming to improve the accuracy of screening target obstacles.

[0004] To achieve the above objectives, one aspect of an embodiment of the present application provides a method for screening target obstacles for automatic emergency braking, the method comprising: Obtaining motion information of a vehicle and motion information and category attribute information of a plurality of obstacles around the vehicle; Classifying the obstacles into multiple obstacle sets according to category attribute information of the obstacles; Predicting a movement trajectory area of ​​the vehicle based on the movement information of the vehicle; determining a collision time between each obstacle in each obstacle set and the vehicle based on the motion information of the vehicle, the motion information of each obstacle in each obstacle set, and the motion of each obstacle in each obstacle set within the motion trajectory of the vehicle; A target obstacle is selected from the plurality of obstacles according to a collision time between each obstacle included in each type of the obstacle set and the vehicle.

[0005] In some embodiments, determining the collision time between each obstacle in each obstacle set and the vehicle based on the motion information of the vehicle, the motion information of each obstacle in each obstacle set, and the motion of each obstacle in each obstacle set in the motion trajectory area of ​​the vehicle includes: For each type of obstacle set, the obstacle set is screened based on the vehicle's motion trajectory area and motion information of each obstacle included in the obstacle set to obtain a first obstacle subset and a second obstacle subset, wherein each obstacle included in the first obstacle subset has a tendency to cross the vehicle's motion trajectory area, and each obstacle included in the second obstacle subset has a tendency to move longitudinally within the vehicle's motion trajectory area; Each obstacle included in the first obstacle subset is recorded as a first obstacle. Based on the motion information of the first obstacle, a first time required for the first obstacle to enter the motion trajectory area of ​​the vehicle and a second time required for the first obstacle to leave the motion trajectory area of ​​the vehicle are calculated; based on the motion information of the first obstacle and the motion information of the vehicle, a third time required for the vehicle to move to a first target point is calculated, where the first target point is the intersection point of the trajectories of the first obstacle and the vehicle; and a collision time between the first obstacle and the vehicle is determined based on the first time, the second time, and the third time. Each obstacle included in the second obstacle subset is recorded as a second obstacle, and a collision time between the second obstacle and the vehicle is determined based on motion information of the second obstacle and motion information of the vehicle.

[0006] In some embodiments, the motion information of each obstacle included in the obstacle set includes the current position and current speed of the obstacle; and filtering the obstacle set based on the motion trajectory area of ​​the vehicle and the motion information of each obstacle included in the obstacle set to obtain the first obstacle subset and the second obstacle subset includes: Taking the lateral component of the current velocity of the obstacle as not equal to zero as a first condition, screening all obstacles that meet the first condition from the obstacle set to form a first obstacle subset; Taking the second condition that the lateral component of the current velocity of the obstacle is zero and the current position of the obstacle falls within the motion trajectory area of ​​the vehicle, all obstacles that meet the second condition are screened from the obstacle set to form a second obstacle subset.

[0007] In some embodiments, the motion information of the first obstacle includes a current position of the first obstacle, and the motion information of the vehicle includes a current position of the vehicle; and calculating the third time required for the vehicle to move to the first target point based on the motion information of the first obstacle and the motion information of the vehicle includes: Predicting a future position of the vehicle based on the motion information of the vehicle; predicting a future position of the first obstacle based on the motion information of the first obstacle; Calculating the position of the first target point based on the current position and future position of the vehicle and the current position and future position of the first obstacle; A third time required for the vehicle to move to the first target point is calculated according to the position of the first target point and the movement information of the vehicle.

[0008] In some embodiments, determining the collision time between the first obstacle and the vehicle based on the first time, the second time, and the third time includes: If the third time falls within a time region formed by the first time and the second time, the collision time between the first obstacle and the vehicle is set to the third time.

[0009] In some embodiments, the motion information of the second obstacle includes a current position of the second obstacle; and determining the collision time between the second obstacle and the vehicle based on the motion information of the second obstacle and the motion information of the vehicle includes: predicting a future position of the second obstacle based on the motion information of the second obstacle; Calculating a position of a second target point based on the current position and future position of the vehicle and the current position and future position of the second obstacle, where the second target point is a trajectory intersection point between the second obstacle and the vehicle; calculating a fourth time required for the vehicle to move to the second target point based on the position of the second target point and the movement information of the vehicle; calculating, based on the position of the second target point and the motion information of the second obstacle, a fifth time required for the second obstacle to move to the second target point; A collision time between the second obstacle and the vehicle is determined based on the fourth time and the fifth time.

[0010] In some embodiments, determining the collision time between the second obstacle and the vehicle based on the fourth time and the fifth time includes: If the fourth time is equal to the fifth time, the collision time between the second obstacle and the vehicle is set to the fourth time or the fifth time.

[0011] To achieve the above objectives, another aspect of the present application provides an automatic emergency braking target obstacle screening device, the device comprising: An acquisition module, configured to acquire motion information of the vehicle and motion information and category attribute information of a plurality of obstacles surrounding the vehicle; a classification module, configured to classify the plurality of obstacles into a plurality of obstacle sets according to category attribute information of the plurality of obstacles; A prediction module, configured to predict a motion trajectory area of ​​the vehicle based on the motion information of the vehicle; a determination module, configured to determine a collision time between each obstacle included in each obstacle set and the vehicle based on the motion information of the vehicle, the motion information of each obstacle included in each obstacle set, and the motion of each obstacle included in each obstacle set in the motion trajectory area of ​​the vehicle; The screening module is configured to screen out a target obstacle from the plurality of obstacles based on a collision time between each obstacle included in each type of the obstacle set and the vehicle.

[0012] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned automatic emergency braking target obstacle screening method when executing the computer program.

[0013] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides a vehicle, which includes the above-mentioned automatic emergency braking target obstacle screening device or the above-mentioned electronic device.

[0014] The embodiments of the present application include at least the following beneficial effects: by predicting the vehicle's motion trajectory area based on the vehicle's motion information, and then performing a comprehensive analysis based on the vehicle's motion information, the motion information of each obstacle, and the motion conditions of each obstacle in the vehicle's motion trajectory area to determine the collision time between each obstacle and the vehicle, and then implementing target obstacle screening based on the collision time between each obstacle and the vehicle. In this implementation process, the interference between the obstacle's passage area and the vehicle's motion trajectory area is taken into account, which can effectively reduce the target obstacle screening error rate, thereby reducing the occurrence of vehicle false alarms and false braking.

[0015] It is understandable that the beneficial effects of the device, electronic device, and vehicle disclosed in the present application are the same as the beneficial effects of the automatic emergency braking target obstacle screening method, and will not be repeated here.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 This is a flow chart of a method for screening target obstacles for automatic emergency braking provided by an embodiment of the present application; Figure 2 This is a schematic block diagram of a module of an automatic emergency braking target obstacle screening device provided by an embodiment of the present application; Figure 3 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the reference to "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0019] It will be understood that the terms "first", "second", etc. used in this application may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0020] The terms "at least one", "plurality", "each", "any", etc. used in this application include "at least one", "two" or more, "plurality" or "each", "any" or "any one", "each" or "any one" as used herein.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0022] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0023] In the field of intelligent driving and autonomous driving, Autonomous Emergency Braking (AEB) is an important active automotive safety technology. When it detects a collision risk ahead, it actively controls the vehicle's braking system to decelerate or stop the car in time, helping the driver avoid or mitigate collision accidents through automatic intervention.

[0024] Existing automatic emergency braking target obstacle screening technology typically directly calculates the collision time between each identified obstacle and the vehicle before further screening out target obstacles. This implementation fails to consider the movement trends of each obstacle relative to the vehicle (i.e., the tendency of obstacles to cross the vehicle's trajectory area or to move longitudinally within the vehicle's trajectory area), resulting in low target obstacle screening accuracy.

[0025] In view of this, the present application proposes a method, device, equipment and vehicle for automatic emergency braking target obstacle screening. The scheme predicts the vehicle's motion trajectory area based on the vehicle's motion information, and then conducts a comprehensive analysis based on the vehicle's motion information, the motion information of each obstacle and the motion conditions of each obstacle in the vehicle's motion trajectory area to determine the collision time between each obstacle and the vehicle. Subsequently, the target obstacle is screened based on the collision time between each obstacle and the vehicle. In this implementation process, the interference between the obstacle's passage area and the vehicle's motion trajectory area is taken into account, which can effectively reduce the target obstacle screening error rate, thereby reducing the occurrence of vehicle false alarms and false braking.

[0026] The automatic emergency braking target obstacle screening method provided in the embodiments of the present application can be applied to the electronic device provided in the embodiments of the present application. The electronic device can be a terminal or a server. The terminal can be a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks, and big data and artificial intelligence platforms.

[0027] Please refer to Figure 1 , Figure 1 This is a flowchart of an automatic emergency braking target obstacle screening method provided in an embodiment of the present application; it should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that shown here.

[0028] An automatic emergency braking target obstacle screening method provided in an embodiment of the present application may include, but is not limited to, five steps S101 to S105, which are specifically as follows: S101, obtaining motion information of the vehicle and motion information and category attribute information of several obstacles around the vehicle; S102. Classify the obstacles into multiple obstacle sets based on their category attribute information. S103, predicting a movement trajectory area of ​​the vehicle based on the movement information of the vehicle; S104: Determine a collision time between each obstacle in each obstacle set and the vehicle based on the vehicle's motion information, the motion information of each obstacle in each obstacle set, and the motion of each obstacle in each obstacle set within the vehicle's motion trajectory. S105 : Filtering a target obstacle from a plurality of obstacles according to the collision time between each obstacle included in each obstacle set and the vehicle.

[0029] The five steps S101 to S105 shown in the embodiment of the present application comprehensively consider the interference between the obstacle's passage area and the vehicle's motion trajectory area in the process of determining the collision time between each obstacle and the vehicle, which is conducive to subsequently improving the accuracy of target obstacle screening.

[0030] In S101 of some embodiments, the vehicle's motion information includes the vehicle's current position, current speed, and current acceleration. The vehicle's current position can be collected by an on-board GPS sensor, and the vehicle's current speed and current acceleration can be provided by the vehicle's chassis system. The motion information and category attribute information of several obstacles around the vehicle can be provided by an on-board sensor fusion module. The motion information of each obstacle includes the obstacle's current position, current speed, and current acceleration. The category attribute information of each obstacle is used to characterize whether the obstacle belongs to a pedestrian, a two-wheeled vehicle, an ordinary passenger car, a relatively large vehicle, or a special obstacle of a certain shape.

[0031] In some embodiments, the above S103 may include, but is not limited to, steps S201 to S202, which are specifically as follows: S201, predicting the movement trajectory of the vehicle based on the movement information of the vehicle; Specifically, the vehicle's current position, current speed, and current acceleration are calculated to predict the vehicle's future position. This can be achieved using the following expression: ; Where, is the future position of the vehicle, is the current position of the vehicle, is the current speed of the vehicle, is the current acceleration of the vehicle, is the preset collection time interval; Then, two points are connected based on the vehicle's current position and future position to form the vehicle's motion trajectory.

[0032] S202 : Acquire the width of the vehicle, and then construct a vehicle motion trajectory area based on the vehicle motion trajectory, so that the width of the vehicle is the width of the vehicle motion trajectory area, and the vehicle motion trajectory is the center line of the vehicle motion trajectory area.

[0033] In some embodiments, S104 is described using any obstacle set as an example. Regarding the step of determining the collision time between each obstacle in the obstacle set and the vehicle, the corresponding implementation process may include, but is not limited to, steps S301 to S303, as follows: S301: Filter the obstacle set based on the vehicle's motion trajectory and the motion information of each obstacle included in the obstacle set to obtain a first obstacle subset and a second obstacle subset. Each obstacle included in the first obstacle subset has a tendency to cross the vehicle's motion trajectory, and each obstacle included in the second obstacle subset has a tendency to move longitudinally within the vehicle's motion trajectory. This means that the motion direction of each obstacle included in the second obstacle subset is substantially the same as the vehicle's motion direction.

[0034] Specifically, the method for screening this type of obstacle set may include: using the lateral component of the obstacle's current velocity not equal to zero as a first condition, screening all obstacles that meet the first condition from the obstacle set to form a first obstacle subset; using the lateral component of the obstacle's current velocity equal to zero and the obstacle's current position falling within the vehicle's motion trajectory as a second condition, screening all obstacles that meet the second condition from the obstacle set to form a second obstacle subset.

[0035] S302: Each obstacle included in the first obstacle subset is recorded as a first obstacle. Based on the motion information of the first obstacle, a first time required for the first obstacle to enter the motion trajectory area of ​​the vehicle and a second time required for the first obstacle to leave the motion trajectory area of ​​the vehicle are calculated. Furthermore, based on the motion information of the first obstacle and the motion information of the vehicle, a third time required for the vehicle to move to a first target point is calculated, where the first target point is the intersection point of the trajectories of the first obstacle and the vehicle. Subsequently, a collision time between the first obstacle and the vehicle is determined based on the first time required for the first obstacle to enter the motion trajectory area of ​​the vehicle, the second time required for the first obstacle to leave the motion trajectory area of ​​the vehicle, and the third time required for the vehicle to move to the first target point.

[0036] S303: Record each obstacle included in the second obstacle subset as a second obstacle, and determine a collision time between the second obstacle and the vehicle based on motion information of the second obstacle and motion information of the vehicle.

[0037] In the embodiment of the present application, two obstacle subsets with different motion trends are screened out from the obstacle set, and then a different implementation principle is adopted for each obstacle subset to determine the collision time between each obstacle and the vehicle. This fully considers the motion characteristics of each obstacle relative to the vehicle, which is conducive to improving the reliability of subsequent target obstacle screening.

[0038] In some embodiments, in S302, the motion information of the first obstacle includes the current position, current speed, and current acceleration of the first obstacle. Regarding the step of calculating the first time required for the first obstacle to enter the motion trajectory area of ​​the vehicle and the second time required for the first obstacle to leave the motion trajectory area of ​​the vehicle, the corresponding implementation process may include, but is not limited to, steps S401 to S402, as follows: S401: Determine the shortest distance between the current position of the first obstacle and the first side boundary of the vehicle's motion trajectory area and record it as a first distance. Then, based on the current velocity and current acceleration of the first obstacle, calculate a first time required for the first obstacle to enter the vehicle's motion trajectory area. This can be achieved using the following expression: ; Where, is the first distance between the current position of the first obstacle and the first side boundary line of the vehicle's motion trajectory area, is the current speed of the first obstacle, is the current acceleration of the first obstacle, The first time required for the first obstacle to enter the vehicle's motion trajectory area; S402: Determine the shortest distance between the current position of the first obstacle and the second side boundary line of the vehicle's motion trajectory area and record it as a second distance. Then, combine the current velocity and current acceleration of the first obstacle to calculate the second time required for the first obstacle to leave the vehicle's motion trajectory area. This can be achieved using the following expression: ; Where, is the second distance between the current position of the first obstacle and the second side boundary line of the motion trajectory area of ​​the vehicle, and , that is, the first obstacle is closer to the first side boundary line of the vehicle's motion trajectory area, The second time required for the first obstacle to leave the motion trajectory area of ​​the vehicle.

[0039] In some embodiments, in S302, regarding the step of calculating the third time required for the vehicle to move to the first target point, the corresponding implementation process may include, but is not limited to, the four steps S501 to S504, as follows: S501. Predicting the future position of the vehicle based on the vehicle's motion information; Specifically, the future position of the vehicle is calculated based on the current position, current speed, and current acceleration of the vehicle, which can be achieved using the following expression: ; Where, is the future position of the vehicle, is the current position of the vehicle, is the current speed of the vehicle, is the current acceleration of the vehicle, The preset collection time interval.

[0040] S502: Predicting a future position of the first obstacle based on the motion information of the first obstacle; Specifically, the future position of the first obstacle is calculated based on the current position, current speed, and current acceleration of the first obstacle, which can be achieved using the following expression: ; Where, is the future position of the first obstacle, is the current position of the first obstacle, is the current speed of the first obstacle, is the current acceleration of the first obstacle.

[0041] S503, calculating the position of the first target point according to the current position and future position of the vehicle and the current position and future position of the first obstacle; Specifically, the slope and intercept of the vehicle's trajectory formed by connecting the current and future positions of the vehicle are calculated based on the vehicle's current and future positions. This can be achieved using the following expressions: , ; Where, The future location of the vehicle Contains two-dimensional components, The current position of the vehicle Contains two-dimensional components, is the slope of the vehicle’s trajectory, is the intercept of the vehicle’s trajectory; The slope and intercept of the motion trajectory of the first obstacle formed by connecting the current position and the future position of the first obstacle are calculated based on the current position and the future position of the first obstacle. This can be achieved using the following expressions: , ; Where, is the future position of the first obstacle Contains two-dimensional components, is the current position of the first obstacle Contains two-dimensional components, is the slope of the motion trajectory of the first obstacle, is the intercept of the motion trajectory of the first obstacle; Then, the position of the first target point is calculated based on the slope and intercept of the vehicle's motion trajectory and the slope and intercept of the first obstacle's motion trajectory. This can be achieved using the following expression: , ; Where, The position of the first target point Contains the two-dimensional components.

[0042] S504, calculating a third time required for the vehicle to move to the first target point based on the position of the first target point and the movement information of the vehicle; Specifically, a calculation is performed based on the position of the first target point and the current position of the vehicle to obtain a third distance between the vehicle and the first target point. Then, a calculation is performed based on the current speed and current acceleration of the vehicle and the third distance between the vehicle and the first target point to obtain a third time required for the vehicle to move to the first target point. This can be achieved using the following expression: ; Where, is the third distance between the vehicle and the first target point, is the third time required for the vehicle to move to the first target point.

[0043] In S302 of some embodiments, regarding the step of determining the collision time between the first obstacle and the vehicle, the corresponding implementation includes the following: If the third time required for the vehicle to move to the first target point falls within the time region, the time region is formed by the first time required for the first obstacle to enter the vehicle's motion trajectory region and the second time required for the first obstacle to leave the vehicle's motion trajectory region, that is, , indicating that the vehicle will collide with the first obstacle, the collision time between the first obstacle and the vehicle is set to the third time required for the vehicle to move to the first target point; If the third time required for the vehicle to move to the first target point does not fall within the time range, it means that the vehicle will not collide with the first obstacle. In this case, the collision time between the first obstacle and the vehicle is set to a fixed time value. The fixed time value is generally set to a large value, such as 99 seconds, to avoid affecting the subsequent screening results for the target obstacle.

[0044] In an embodiment of the present application, for a first obstacle with a tendency to cross, the two times corresponding to the first obstacle entering and leaving the vehicle's motion trajectory area are calculated according to Newton's kinematics principles, and the time required for the vehicle to move to the trajectory intersection point between it and the first obstacle is calculated. The relationship between these three times is then used to further determine whether the vehicle will collide with the first obstacle, so that the collision time between the first obstacle and the vehicle can be obtained more accurately and reliably.

[0045] In some embodiments, in S303, the motion information of the second obstacle includes the current position, current speed, and current acceleration of the second obstacle. Regarding the step of determining the collision time between the second obstacle and the vehicle, the corresponding implementation method may include, but is not limited to, steps S601 to S604, as follows: S601: Predicting a future position of the second obstacle based on the motion information of the second obstacle; Specifically, the future position of the second obstacle is calculated based on the current position, current velocity, and current acceleration of the second obstacle, which can be achieved using the following expression: ; Where, is the future position of the second obstacle, is the current position of the second obstacle, is the current speed of the second obstacle, is the current acceleration of the second obstacle, The preset collection time interval.

[0046] S602: Calculate the position of a second target point based on the current position and future position of the vehicle and the current position and future position of the second obstacle, where the second target point is a trajectory intersection point between the second obstacle and the vehicle. Specifically, the slope and intercept of the vehicle's trajectory formed by connecting the current and future positions of the vehicle are calculated based on the vehicle's current and future positions. This can be achieved using the following expressions: , ; Where, The future location of the vehicle Contains two-dimensional components, The current position of the vehicle Contains two-dimensional components, is the slope of the vehicle’s trajectory, is the intercept of the vehicle’s trajectory; The slope and intercept of the motion trajectory of the second obstacle formed by connecting the current and future positions of the second obstacle are calculated based on the current and future positions of the second obstacle. This can be achieved using the following expressions: , ; Where, is the future position of the second obstacle Contains two-dimensional components, is the current position of the second obstacle Contains two-dimensional components, is the slope of the motion trajectory of the second obstacle, is the intercept of the motion trajectory of the second obstacle; Then, the position of the second target point is calculated based on the slope and intercept of the vehicle's motion trajectory and the slope and intercept of the second obstacle's motion trajectory. This can be achieved using the following expression: , ; Where, The position of the second target point Contains the two-dimensional components.

[0047] S603, calculating a fourth time required for the vehicle to move to the second target point based on the position of the second target point and the motion information of the vehicle; and calculating a fifth time required for the second obstacle to move to the second target point based on the position of the second target point and the motion information of the second obstacle; Specifically, a fourth distance between the vehicle and the second target point is calculated based on the position of the second target point and the current position of the vehicle. A fourth time required for the vehicle to move to the second target point is then calculated based on the current speed and current acceleration of the vehicle and the fourth distance between the vehicle and the second target point. This can be achieved using the following expression: ; Where, is the fourth distance between the vehicle and the second target point, is the fourth time required for the vehicle to move to the second target point, is the current speed of the vehicle, is the current acceleration of the vehicle; A fifth distance between the second obstacle and the second target point is calculated based on the position of the second target point and the current position of the second obstacle. A fifth time required for the second obstacle to move to the second target point is calculated based on the current speed and current acceleration of the second obstacle and the fifth distance between the second obstacle and the second target point. This can be achieved using the following expression: ; Where, is the fifth distance between the second obstacle and the second target point, is the fifth time required for the second obstacle to move to the second target point.

[0048] S604, determining a collision time between the second obstacle and the vehicle based on a fourth time required for the vehicle to move to the second target point and a fifth time required for the second obstacle to move to the second target point; Specifically, if the fourth time required for the vehicle to move to the second target point is equal to the fifth time required for the second obstacle to move to the second target point, that is, the two times coincide, indicating that the vehicle will collide with the second obstacle, and the collision time between the second obstacle and the vehicle is set to the fourth time required for the vehicle to move to the second target point or the fifth time required for the second obstacle to move to the second target point; if the fourth time required for the vehicle to move to the second target point is not equal to the fifth time required for the second obstacle to move to the second target point, that is, the two times do not coincide, indicating that the vehicle will not collide with the second obstacle, and the collision time between the second obstacle and the vehicle is set to a fixed time value. The fixed time value is generally set to a large value, such as 99 seconds, to avoid affecting the subsequent screening results of target obstacles.

[0049] In an embodiment of the present application, for a second obstacle with a longitudinal motion trend, the time required for the vehicle to move to the intersection point of the trajectory between the vehicle and the second obstacle is calculated based on Newton's kinematics principles, and the time required for the second obstacle to move to the same intersection point is calculated. The relationship between these two times is then used to further determine whether the vehicle will collide with the second obstacle. This allows for a more accurate and reliable determination of the collision time between the second obstacle and the vehicle.

[0050] In some embodiments, S301 can be understood as directly dividing the obstacle set into a first obstacle subset, a second obstacle subset, and another obstacle subset, which do not overlap with each other. Each obstacle included in the other obstacle subset has a tendency to move longitudinally outside the vehicle's motion trajectory. At this time, it is determined that each obstacle included in the other obstacle subset will not collide with the vehicle. Then, the collision time between each obstacle in the other obstacle subset and the vehicle is set to a fixed time value. The fixed time value is generally set to a large value, such as 99 seconds, to avoid affecting the subsequent screening results of the target obstacle.

[0051] In S105 of some embodiments, regarding the step of selecting a target obstacle from a plurality of obstacles, a corresponding implementation method may include: selecting an obstacle with the shortest associated collision time from each obstacle set, and then using the multiple obstacles correspondingly selected from the multiple obstacle sets as all target obstacles with a higher collision risk but different category attribute information. It is also possible to further select an obstacle with the shortest associated collision time from the multiple obstacles currently selected and use it as the target obstacle with the highest collision risk.

[0052] The present application provides a method for screening target obstacles for automatic emergency braking. The method predicts the vehicle's motion trajectory area based on the vehicle's motion information, then performs a comprehensive analysis based on the vehicle's motion information, the motion information of each obstacle, and the motion conditions of each obstacle in the vehicle's motion trajectory area to determine the collision time between each obstacle and the vehicle. Target obstacles are then screened based on the collision time between each obstacle and the vehicle. During this implementation process, the interference between the obstacle's passage area and the vehicle's motion trajectory area is taken into account, which can effectively reduce the error rate of target obstacle screening and thereby reduce the occurrence of false alarms and false braking of the vehicle.

[0053] Please refer to Figure 2 , Figure 2 This is a schematic block diagram of a module of an automatic emergency braking target obstacle screening device provided in an embodiment of the present application, which is used to implement the above-mentioned automatic emergency braking target obstacle screening method. The device includes: An acquisition module 701 is used to acquire the motion information of the vehicle and the motion information and category attribute information of several obstacles around the vehicle; A division module 702 is configured to divide the plurality of obstacles into a plurality of obstacle sets according to category attribute information of the plurality of obstacles; The prediction module 703 is used to predict the movement trajectory area of ​​the vehicle based on the movement information of the vehicle; a determination module 704 for determining a collision time between each obstacle in each obstacle set and the vehicle based on the vehicle's motion information, the motion information of each obstacle in each obstacle set, and the motion of each obstacle in each obstacle set within the vehicle's motion trajectory; The screening module 705 is configured to screen out a target obstacle from a plurality of obstacles based on the collision time between each obstacle included in each obstacle set and the vehicle.

[0054] It can be understood that the contents of the above method embodiments are all applicable to the embodiments of the present device, the functions specifically implemented by the embodiments of the present device are the same as the functions specifically implemented by the above method embodiments, and the beneficial effects achieved by the embodiments of the present device are also the same as the beneficial effects achieved by the above method embodiments.

[0055] The present application also provides an electronic device comprising a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned automatic emergency braking target obstacle screening method. The electronic device may include any intelligent terminal, such as a tablet computer or an in-vehicle computer.

[0056] It can be understood that the contents of the above method embodiments are all applicable to the embodiments of the present device, the functions specifically implemented by the embodiments of the present device are the same as the functions specifically implemented by the above method embodiments, and the beneficial effects achieved by the embodiments of the present device are also the same as the beneficial effects achieved by the above method embodiments.

[0057] See also Figure 3 , Figure 3 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes: The processor 801 can be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application. The memory 802 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 802 can store an operating system and other application programs. When the technical solutions provided in the embodiments of the present application are implemented through software or firmware, the relevant program code is stored in the memory 802 and is called by the processor 801 to execute the technical solutions provided in the embodiments of the present application. Input / output interface 803, used to implement information input and output; Communication interface 804, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.); Bus 805 , which transmits information between various components of the device (e.g., processor 801 , memory 802 , input / output interface 803 , and communication interface 804 ); The processor 801 , the memory 802 , the input / output interface 803 and the communication interface 804 are connected to each other in communication within the device via a bus 805 .

[0058] The present application also provides a vehicle comprising the aforementioned automatic emergency braking target obstacle screening device or the aforementioned electronic device. Specifically, the vehicle can be a private vehicle, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be an operational vehicle, such as a van, bus, small truck, or large trailer. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0059] It can be understood that the contents of the above method embodiments are all applicable to the present vehicle embodiment, the functions specifically implemented by the present vehicle embodiment are the same as the functions specifically implemented by the above method embodiments, and the beneficial effects achieved by the present vehicle embodiment are also the same as the beneficial effects achieved by the above method embodiments.

[0060] An embodiment of the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned automatic emergency braking target obstacle screening method.

[0061] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiment, the functions specifically implemented by the present storage medium embodiment are the same as the functions specifically implemented by the above method embodiments, and the beneficial effects achieved by the present storage medium embodiment are also the same as the beneficial effects achieved by the above method embodiments.

[0062] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0063] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0064] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0065] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0066] Those skilled in the art will appreciate that all or some of the steps, devices, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0067] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0068] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0069] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0070] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0071] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0072] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0073] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A method for screening target obstacles for automatic emergency braking, characterized in that: The method comprises: Obtaining motion information of a vehicle and motion information and category attribute information of a plurality of obstacles around the vehicle; Classifying the obstacles into multiple obstacle sets according to category attribute information of the obstacles; Predicting a movement trajectory area of ​​the vehicle based on the movement information of the vehicle; determining a collision time between each obstacle in each obstacle set and the vehicle based on the motion information of the vehicle, the motion information of each obstacle in each obstacle set, and the motion of each obstacle in each obstacle set within the motion trajectory of the vehicle; A target obstacle is selected from the plurality of obstacles according to a collision time between each obstacle included in each type of the obstacle set and the vehicle.

2. The automatic emergency braking target obstacle screening method according to claim 1, characterized in that: Determining the collision time between each obstacle included in each obstacle set and the vehicle based on the motion information of the vehicle, the motion information of each obstacle included in each obstacle set, and the motion condition of each obstacle included in each obstacle set in the motion trajectory area of ​​the vehicle includes: For each type of obstacle set, the obstacle set is screened based on the vehicle's motion trajectory area and motion information of each obstacle included in the obstacle set to obtain a first obstacle subset and a second obstacle subset, wherein each obstacle included in the first obstacle subset has a tendency to cross the vehicle's motion trajectory area, and each obstacle included in the second obstacle subset has a tendency to move longitudinally within the vehicle's motion trajectory area; Each obstacle included in the first obstacle subset is recorded as a first obstacle. Based on the motion information of the first obstacle, a first time required for the first obstacle to enter the motion trajectory area of ​​the vehicle and a second time required for the first obstacle to leave the motion trajectory area of ​​the vehicle are calculated; based on the motion information of the first obstacle and the motion information of the vehicle, a third time required for the vehicle to move to a first target point is calculated, where the first target point is the intersection point of the trajectories of the first obstacle and the vehicle; and a collision time between the first obstacle and the vehicle is determined based on the first time, the second time, and the third time. Each obstacle included in the second obstacle subset is recorded as a second obstacle, and a collision time between the second obstacle and the vehicle is determined based on motion information of the second obstacle and motion information of the vehicle.

3. The automatic emergency braking target obstacle screening method according to claim 2, characterized in that: The motion information of each obstacle included in the obstacle set includes the current position and current speed of the obstacle; the obstacle set is filtered according to the motion trajectory area of ​​the vehicle and the motion information of each obstacle included in the obstacle set to obtain the first obstacle subset and the second obstacle subset, including: Taking the lateral component of the current velocity of the obstacle as not equal to zero as a first condition, screening all obstacles that meet the first condition from the obstacle set to form a first obstacle subset; Taking the second condition that the lateral component of the current velocity of the obstacle is zero and the current position of the obstacle falls within the motion trajectory area of ​​the vehicle, all obstacles that meet the second condition are screened from the obstacle set to form a second obstacle subset.

4. The automatic emergency braking target obstacle screening method according to claim 2, characterized in that: The motion information of the first obstacle includes a current position of the first obstacle, and the motion information of the vehicle includes a current position of the vehicle. Calculating the third time required for the vehicle to move to the first target point based on the motion information of the first obstacle and the motion information of the vehicle includes: Predicting a future position of the vehicle based on the motion information of the vehicle; predicting a future position of the first obstacle based on the motion information of the first obstacle; Calculating the position of the first target point based on the current position and future position of the vehicle and the current position and future position of the first obstacle; A third time required for the vehicle to move to the first target point is calculated according to the position of the first target point and the movement information of the vehicle.

5. The automatic emergency braking target obstacle screening method according to claim 2, characterized in that: Determining the collision time between the first obstacle and the vehicle according to the first time, the second time, and the third time includes: If the third time falls within a time region formed by the first time and the second time, the collision time between the first obstacle and the vehicle is set to the third time.

6. The automatic emergency braking target obstacle screening method according to claim 4, characterized in that: The motion information of the second obstacle includes a current position of the second obstacle; and determining a collision time between the second obstacle and the vehicle based on the motion information of the second obstacle and the motion information of the vehicle includes: predicting a future position of the second obstacle based on the motion information of the second obstacle; Calculating a position of a second target point based on the current position and future position of the vehicle and the current position and future position of the second obstacle, where the second target point is a trajectory intersection point between the second obstacle and the vehicle; calculating a fourth time required for the vehicle to move to the second target point based on the position of the second target point and the movement information of the vehicle; calculating, based on the position of the second target point and the motion information of the second obstacle, a fifth time required for the second obstacle to move to the second target point; A collision time between the second obstacle and the vehicle is determined based on the fourth time and the fifth time.

7. The automatic emergency braking target obstacle screening method according to claim 6, characterized in that: Determining the collision time between the second obstacle and the vehicle according to the fourth time and the fifth time includes: If the fourth time is equal to the fifth time, the collision time between the second obstacle and the vehicle is set to the fourth time or the fifth time.

8. An automatic emergency braking target obstacle screening device, characterized in that: The device comprises: An acquisition module, configured to acquire motion information of the vehicle and motion information and category attribute information of a plurality of obstacles surrounding the vehicle; a classification module, configured to classify the plurality of obstacles into a plurality of obstacle sets according to category attribute information of the plurality of obstacles; A prediction module, configured to predict a motion trajectory area of ​​the vehicle based on the motion information of the vehicle; a determination module, configured to determine a collision time between each obstacle in each obstacle set and the vehicle based on the motion information of the vehicle, the motion information of each obstacle in each obstacle set, and the motion of each obstacle in each obstacle set within the motion trajectory area of ​​the vehicle; The screening module is configured to screen out a target obstacle from the plurality of obstacles based on a collision time between each obstacle included in each type of the obstacle set and the vehicle.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the automatic emergency braking target obstacle screening method according to any one of claims 1 to 7 when executing the computer program.

10. A vehicle, characterized in that: The vehicle includes the automatic emergency braking target obstacle screening device according to claim 8 or the electronic device according to claim 9.

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