Vehicle emergency braking control method, device and equipment, vehicle and program product

Abstract

The invention discloses a vehicle emergency braking control method, device and equipment, a vehicle and a program product, and relates to the technical field of vehicles. The method comprises the steps that when a self-vehicle triggers an automatic emergency braking function, the first vehicle speed and the first position of the self-vehicle are obtained, and the second vehicle speed and the second position of a vehicle right behind a lane where the self-vehicle is located are obtained; according to the first vehicle speed and the first position of the vehicle, the braking duration and the final stopping position of the vehicle are determined; according to the second vehicle speed of the right rear vehicle, determining the first duration required by the right rear vehicle to run from the second position to the final stop position of the vehicle at a constant speed; and when the relation between the first duration of the vehicle right behind and the braking duration of the vehicle meets a preset condition, limiting the target deceleration requested by the automatic emergency braking function according to the first vehicle speed of the vehicle and the vehicle safety integrity level of the automatic emergency braking function. According to the invention, the risk of rear-end collision of the vehicle during emergency braking can be reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to vehicle emergency braking control methods, devices, equipment, vehicles, and program products. Background Technology

[0002] A vehicle's automatic emergency braking system can automatically brake the vehicle when it detects a potential collision hazard ahead, assisting the driver in avoiding a collision or mitigating its consequences. However, if the automatic emergency braking function is mistakenly triggered, it can cause the vehicle to decelerate unexpectedly, potentially leading to a rear-end collision if the driver of the following vehicle does not react in time. Summary of the Invention

[0003] The main objective of this application is to provide a vehicle emergency braking control method, device, equipment, vehicle, and program product that can reduce the risk of a vehicle being rear-ended during emergency braking.

[0004] To achieve the above objectives, one aspect of this application proposes a vehicle emergency braking control method, the method comprising the following steps: When the vehicle triggers the automatic emergency braking function, the first speed and first position of the vehicle are obtained, as well as the second speed and second position of the vehicle directly behind the vehicle in the lane where the vehicle is located. Based on the first vehicle speed and the first position, determine the braking duration and final stopping position of the vehicle; Based on the second vehicle speed, determine the first time required for the vehicle directly behind to travel at a constant speed from the second position to the final stopping position; When the relationship between the first duration and the braking duration meets the preset conditions, the target deceleration requested by the automatic emergency braking function is reduced according to the first vehicle speed and the vehicle safety integrity level of the automatic emergency braking function.

[0005] In some embodiments, determining the braking duration and final stopping position of the vehicle based on the first vehicle speed and the first position includes: Based on the first vehicle speed, the preset braking pressure rise time, and the preset maximum braking deceleration, calculate the third speed of the vehicle after experiencing the braking pressure rise phase. The response delay time of the automatic emergency braking function is obtained, and then the braking distance of the vehicle is calculated based on the first vehicle speed, the third speed, the maximum braking deceleration, the response delay time, and the braking pressure rise time. The final stopping position is determined based on the first position and the braking distance; The braking duration is calculated based on the third speed, the maximum braking deceleration, the response delay duration, and the braking pressure rise duration.

[0006] In some embodiments, calculating the braking distance of the vehicle based on the first vehicle speed, the third speed, the maximum braking deceleration, the response delay duration, and the braking pressure rise duration includes: Based on the first vehicle speed and the response delay duration, the first travel distance of the vehicle during the automatic emergency braking function response delay phase is calculated. Based on the first vehicle speed, the maximum braking deceleration, and the duration of the braking pressure rise, calculate the second travel distance of the vehicle during the braking pressure rise phase. Based on the third speed and the maximum braking deceleration, calculate the third travel distance of the vehicle when it continues to decelerate until it stops under the maximum braking force; The braking distance is calculated based on the first driving distance, the second driving distance, and the third driving distance.

[0007] In some embodiments, calculating the braking duration based on the third speed, the maximum braking deceleration, the response delay duration, and the braking pressure rise duration includes: Based on the third speed and the maximum braking deceleration, calculate the second duration required for the vehicle to continuously decelerate until it stops under maximum braking force; The braking duration is calculated based on the response delay duration, the braking pressure rise duration, and the second duration.

[0008] In some embodiments, reducing the target deceleration requested by the automatic emergency braking function based on the first vehicle speed and the vehicle safety integrity level of the automatic emergency braking function includes: The vehicle safety integrity level of the automatic emergency braking function is downgraded to obtain the target vehicle safety integrity level. A lookup operation is performed based on the first vehicle speed and the target vehicle safety integrity level to obtain the deceleration constraint range; Based on the aforementioned deceleration constraint range, a limit is set on the target deceleration requested by the automatic emergency braking function.

[0009] In some embodiments, the relationship between the first duration and the braking duration satisfies a preset condition including: the first duration is less than or equal to the braking duration.

[0010] To achieve the above objectives, another aspect of this application provides a vehicle emergency braking control device, the device comprising: The acquisition module is used to acquire the first speed and first position of the vehicle when the vehicle triggers the automatic emergency braking function, and to acquire the second speed and second position of the vehicle directly behind the vehicle in the lane where the vehicle is located. The first determining module is used to determine the braking duration and final stopping position of the vehicle based on the first vehicle speed and the first position; The second determining module is used to determine, based on the second vehicle speed, the first time required for the vehicle directly behind to travel at a constant speed from the second position to the final stopping position; The processing module is configured to, when the relationship between the first duration and the braking duration meets a preset condition, reduce the target deceleration requested by the automatic emergency braking function based on the first vehicle speed and the vehicle safety integrity level of the automatic emergency braking function.

[0011] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described vehicle emergency braking control method.

[0012] To achieve the above objectives, another aspect of this application provides a vehicle that includes the aforementioned vehicle emergency braking control device or the aforementioned electronic device.

[0013] To achieve the above objectives, another aspect of this application provides a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle emergency braking control method.

[0014] The embodiments of this application include at least the following beneficial effects: when the automatic emergency braking function is triggered by the vehicle, the braking duration and final stopping position of the vehicle are first determined based on the vehicle's first speed and first position. Then, the first time required for the vehicle directly behind the vehicle to travel at a constant speed from its second position to the vehicle's final stopping position is determined based on the second speed of the vehicle directly behind the vehicle in the lane where the vehicle is located. Subsequently, when it is determined that the relationship between the first time of the vehicle directly behind and the braking duration of the vehicle meets the preset conditions, the target deceleration requested by the automatic emergency braking function is reduced based on the vehicle's first speed and the vehicle safety integrity level of the automatic emergency braking function. This can reduce the risk of the vehicle being rear-ended during emergency braking and improve the driving comfort of the vehicle while ensuring its safety.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic flowchart of a vehicle emergency braking control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the composition of a vehicle emergency braking control device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the reference to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this 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 mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the embodiments of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0018] It is understood that the terms "first," "second," etc., used in this application may be used to describe various concepts herein, but unless specifically stated otherwise, 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 this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words "if" or "when" as used herein may be interpreted as "when," "in response to a determination," or "at least one," "multiple," "each," "any," etc., as used in this application, at least one includes one, two, or more than two, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0020] The vehicle's automatic emergency braking system can automatically brake the vehicle when a potential collision hazard is detected ahead, assisting the driver in avoiding a collision or mitigating its consequences. Specifically, AEB (Autonomous Emergency Braking) is a crucial active safety feature of the vehicle's braking system. AEB uses a front-end sensing module to measure the distance to the vehicle ahead or an obstacle, then uses a data analysis module to compare the measured distance with both a warning distance and a safe distance. When the measured distance is less than the warning distance, a warning is issued; when the measured distance is less than the safe distance, the AEB system will activate even if the driver has not had time to apply the brake pedal, causing the vehicle to decelerate and thus ensuring safe travel. However, in real-world following scenarios, if the automatic emergency braking function is mistakenly triggered, it can cause unexpected deceleration, potentially leading to a rear-end collision if the driver of the following vehicle does not react in time.

[0021] In view of this, this application proposes a vehicle emergency braking control method, device, equipment, vehicle, and program product. This solution, when the vehicle triggers the automatic emergency braking function, first determines the braking duration and final stopping position of the vehicle based on its first speed and first position. Then, it determines the first time required for the vehicle directly behind the vehicle to travel at a constant speed from its second position to the vehicle's final stopping position based on the second speed of the vehicle directly behind it in the same lane. Subsequently, when the relationship between the first time of the vehicle directly behind and the braking duration of the vehicle meets preset conditions, the target deceleration requested by the automatic emergency braking function is reduced based on the vehicle's first speed and the vehicle safety integrity level of the automatic emergency braking function. This reduces the risk of the vehicle being rear-ended during emergency braking and improves the vehicle's driving comfort while ensuring its safety.

[0022] This application provides a vehicle emergency braking control method that can be applied to the electronic device provided in this 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 to these. The server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks, and big data and artificial intelligence platforms.

[0023] Please refer to Figure 1 , Figure 1This is a flowchart illustrating a vehicle emergency braking control method provided in an embodiment of this application. It should be noted that the steps shown in the flowchart can be executed in a computer system, such as a computer system containing a set of computer-executable instructions. Although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0024] The vehicle emergency braking control method provided in this application embodiment may include, but is not limited to, the four steps S101 to S104, as detailed below: S101. When the vehicle triggers the automatic emergency braking function, obtain the first speed and first position of the vehicle, and obtain the second speed and second position of the vehicle directly behind the vehicle in the lane where the vehicle is located. S102. Determine the braking duration and final stopping position of the vehicle based on its first speed and first position. S103. Based on the second speed of the vehicle directly behind, determine the first time required for the vehicle directly behind to travel at a constant speed from its second position to the final stopping position of the vehicle. S104. When the relationship between the first duration of the vehicle directly behind and the braking duration of the vehicle itself meets the preset conditions, the target deceleration requested by the automatic emergency braking function is reduced according to the first speed of the vehicle itself and the vehicle safety integrity level of the automatic emergency braking function.

[0025] The four steps S101 to S104 shown in the embodiments of this application can improve vehicle safety by reducing the target deceleration requested by the automatic emergency braking function when it is determined that the vehicle may be rear-ended after triggering the automatic emergency braking function.

[0026] In some embodiments, S102, regarding the determination of the braking duration and final stopping position of the vehicle based on its first speed and first position, the corresponding implementation may include, but is not limited to, the four steps S201 to S204, as follows: S201. Based on the vehicle's first speed, the preset braking pressure rise time, and the preset maximum braking deceleration, calculate the vehicle's third speed after experiencing the braking pressure rise phase. This can be achieved using the following mathematical expression: ; In the formula, This refers to the vehicle's third speed after the initial braking pressure increase phase. It can be understood as the decrease in the vehicle's initial speed after the braking pressure increase phase. This refers to the vehicle's initial speed, which can be understood as the initial speed of the vehicle when the automatic emergency braking function is triggered. Maximum braking deceleration can be understood as the maximum achievable braking deceleration of the braking system. Braking pressure rise time can be understood as the time it takes for the braking pressure to rise from zero to the maximum braking force. S202. Obtain the response delay time of the automatic emergency braking function, and then calculate the braking distance of the vehicle based on the vehicle's first speed and third speed, maximum braking deceleration, response delay time and braking pressure rise time. S203. Determine the final stopping position of the vehicle based on its initial position and braking distance. S204. Calculate the braking duration of the vehicle based on its third speed, maximum braking deceleration, response delay, and braking pressure rise time. This can be understood as the time required from when the vehicle triggers the automatic emergency braking function until the vehicle comes to a complete stop.

[0027] In this application, by further determining the braking duration and final stopping position of the vehicle based on its initial speed and initial position when the automatic emergency braking function is triggered, data support can be provided for subsequent judgment on whether the vehicle may be rear-ended after the automatic emergency braking function is triggered.

[0028] In some embodiments, S202 involves calculating the braking distance of the vehicle based on its first and third speeds, maximum braking deceleration, response delay duration, and braking pressure rise duration. The corresponding implementation may include, but is not limited to, the four steps S301 to S304, as detailed below: S301. Based on the vehicle's initial speed and response delay duration, calculate the vehicle's first travel distance during the automatic emergency braking function's response delay phase. This can be achieved using the following mathematical expression: ; S302. Based on the vehicle's first speed, maximum braking deceleration, and braking pressure rise time, the second travel distance of the vehicle during the braking pressure rise phase can be calculated using the following mathematical expression: ; S303. Based on the vehicle's third speed and maximum braking deceleration, calculate the third travel distance of the vehicle when it continues to decelerate until it stops under maximum braking force. This can be achieved using the following mathematical expression: ; S304. Based on the vehicle's first travel distance, second travel distance, and third travel distance, the braking distance of the vehicle can be calculated using the following mathematical expression: ; In the formula, This refers to the first distance traveled by the vehicle during the response delay phase of the automatic emergency braking function. The response delay of the automatic emergency braking function can be understood as the total delay from when the vehicle's automatic emergency braking system detects an obstacle or vehicle in front to when it begins to apply braking force. This refers to the second distance the vehicle travels during the initial braking pressure increase phase. This is the third distance the vehicle travels when it continuously decelerates under maximum braking force until it comes to a stop. This represents the vehicle's braking distance. It should be noted that the average deceleration of the vehicle during the braking pressure rise phase is half of the maximum braking deceleration.

[0029] In some embodiments, regarding the calculation of the braking duration of the vehicle based on its third speed, maximum braking deceleration, response delay duration, and braking pressure rise duration in S204, the corresponding implementation may be, but is not limited to, steps S401 to S402, as follows: S401. Based on the vehicle's third speed and maximum braking deceleration, calculate the second time required for the vehicle to continuously decelerate to a stop under maximum braking force. This can be achieved using the following mathematical expression: ; S402. Based on the response delay duration, the braking pressure rise duration, and the second duration of the vehicle, the braking duration of the vehicle can be calculated using the following mathematical expression: ; In the formula, This is the second time required for the vehicle to continuously decelerate until it comes to a stop under maximum braking force. This represents the braking duration of the vehicle. It should be noted that the vehicle travels at a constant maximum braking deceleration until it comes to a complete stop during the maximum braking force duration.

[0030] In some embodiments, S104, the relationship between the first duration of the vehicle directly behind and the braking duration of the vehicle itself satisfies a preset condition, specifically including: the first duration of the vehicle directly behind is less than or equal to the braking duration of the vehicle itself.

[0031] In some embodiments, S104, regarding the reduction of the target deceleration requested by the automatic emergency braking function based on the vehicle's first speed and the vehicle safety integrity level of the automatic emergency braking function, the corresponding implementation may include, but is not limited to, the following three steps S501 to S503.

[0032] S501. The vehicle safety integrity level of the automatic emergency braking function is lowered to obtain the target vehicle safety integrity level; wherein, the lowering range is preferably set to one level, that is, the target vehicle safety integrity level is one level lower than the vehicle safety integrity level of the automatic emergency braking function. For example, there are generally five levels of Automotive Safety Integrity Level (ASIL), which are ASIL QM, ASIL A, ASIL B, ASIL C and ASIL D in order from low to high. The higher the level of the Automotive Safety Integrity Level, the higher the risk of functional failure. When the Automotive Safety Integrity Level of the Automatic Emergency Braking function is ASIL C, the target Automotive Safety Integrity Level is determined by downgrading to ASIL B.

[0033] S502. A lookup table operation is performed based on the vehicle's first speed and the target vehicle safety integrity level to obtain the deceleration constraint range. The lookup table involves multiple speed thresholds and multiple deceleration thresholds. The speed thresholds include a first speed threshold and a second speed threshold arranged in ascending order, with the second speed threshold preferably set to twice the first speed threshold. The deceleration thresholds include a first deceleration threshold, a second deceleration threshold, and a third deceleration threshold arranged in ascending order, with the second deceleration threshold preferably set to twice the first deceleration threshold and the third deceleration threshold preferably set to three times the first deceleration threshold. This table records multiple different composite parameter ranges and the corresponding vehicle safety integrity level for each composite parameter range. Each composite parameter range includes a speed threshold range and a deceleration threshold range. For example, when the vehicle speed is greater than the first speed threshold but less than or equal to the second speed threshold, and the deceleration is greater than the second deceleration threshold but less than or equal to the third deceleration threshold, the corresponding vehicle safety integrity level is set to ASIL. A; When the vehicle speed is greater than the first speed threshold but less than or equal to the second speed threshold, and the deceleration is greater than the third deceleration threshold, the corresponding vehicle safety integrity level is set to ASIL B; When the vehicle speed is greater than the second speed threshold, and the deceleration is greater than the first deceleration threshold but less than or equal to the second deceleration threshold, the corresponding vehicle safety integrity level is set to ASIL A; When the vehicle speed is greater than the second speed threshold, and the deceleration is greater than the second deceleration threshold but less than or equal to the third deceleration threshold, the corresponding vehicle safety integrity level is set to ASIL B; When the vehicle speed is greater than the second speed threshold, and the deceleration is greater than the third deceleration threshold, the corresponding vehicle safety integrity level is set to ASIL C.

[0034] S503. Based on the deceleration constraint range, a limit is set on the target deceleration requested by the automatic emergency braking function. This can be understood as limiting the target deceleration requested by the automatic emergency braking function to the deceleration constraint range.

[0035] In this application, by reasonably lowering the target deceleration requested by the automatic emergency braking function, it is beneficial to reduce the risk of the vehicle being rear-ended during emergency braking.

[0036] Please refer to Figure 2 , Figure 2 This is a schematic diagram of a vehicle emergency braking control device provided in an embodiment of this application. This device can implement the aforementioned vehicle emergency braking control method, and may include, but is not limited to, the following components: The acquisition module 601 is used to acquire the first speed and first position of the vehicle when the vehicle triggers the automatic emergency braking function, and to acquire the second speed and second position of the vehicle directly behind the vehicle in the lane where the vehicle is located. The first determining module 602 is used to determine the braking duration and final stopping position of the vehicle based on the vehicle's first speed and first position. The second determining module 603 is used to determine, based on the second speed of the vehicle directly behind, the first time required for the vehicle to travel at a constant speed from its second position to the final stopping position of the vehicle. The processing module 604 is used to reduce the target deceleration requested by the automatic emergency braking function based on the vehicle's first speed and the vehicle safety integrity level of the automatic emergency braking function when the relationship between the first duration of the vehicle directly behind and the braking duration of the vehicle itself meets the preset conditions.

[0037] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those specifically implemented by the above method embodiments, and the beneficial effects achieved by the present device embodiments are also the same as those achieved by the above method embodiments.

[0038] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described vehicle emergency braking control method. The electronic device may include any smart terminal such as a tablet computer or an in-vehicle computer.

[0039] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those implemented by the above method embodiments, and the beneficial effects achieved by the present device embodiments are also the same as those achieved by the above method embodiments.

[0040] Please see Figure 3, Figure 3 This is a schematic diagram illustrating the hardware structure of an electronic device according to another embodiment. The electronic device includes: The processor 701 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, 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 this application. The memory 702 can be implemented in the form of read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 702 can store the operating system and other applications. When the technical solution provided in the embodiments of this application is implemented by software or firmware, the relevant program code is stored in the memory 702 and is called and executed by the processor 701. The input / output interface 703 is used to implement information input and output; The communication interface 704 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 705 transmits information between various components of the device (e.g., processor 701, memory 702, input / output interface 703, and communication interface 704); The processor 701, memory 702, input / output interface 703 and communication interface 704 are connected to each other within the device via bus 705.

[0041] This application also provides a vehicle that includes the aforementioned vehicle emergency braking control device or the aforementioned electronic device. Specifically, the vehicle can be a private car, such as a sedan or SUV; the vehicle can also be a new energy vehicle, such as a hybrid vehicle or a pure electric vehicle.

[0042] It is understood that the content of the above method embodiments is applicable to this vehicle embodiment, the specific functions implemented by this vehicle embodiment are the same as those implemented by the above method embodiments, and the beneficial effects achieved by this vehicle embodiment are the same as those achieved by the above method embodiments.

[0043] This application also provides a computer program product, which includes a computer program that, when executed by one or more processors, implements the above-described vehicle emergency braking control method.

[0044] It is understood that the content of the above method embodiments is applicable to this computer program product. The specific functions implemented by the embodiments of this computer program product are the same as those implemented by the above method embodiments, and the beneficial effects achieved by the embodiments of this computer program product are also the same as those achieved by the above method embodiments.

[0045] The embodiments described in this application are for the purpose of more clearly illustrating 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. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0046] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0047] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0048] Those skilled in the art will understand that all or some of the steps, apparatuses, or functional modules / units in the methods disclosed above can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0049] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0050] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0051] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed between the devices or units may be through some interfaces, and the indirect coupling or communication connection may be electrical, mechanical, or other forms.

[0052] The units described above as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0053] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0054] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0055] The preferred embodiments of this application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of this application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of this application shall be within the scope of the claims of this application.

Claims

1. A vehicle emergency brake control method characterized by, The method comprises the following steps: When the ego vehicle triggers the automatic emergency braking function, the first speed and the first position of the ego vehicle are acquired, and the second speed and the second position of the vehicle in front of the lane where the ego vehicle is located are acquired; According to the first speed and the first position, the braking time and the final stop position of the ego vehicle are determined; According to the second speed, the first time required for the vehicle in front to travel at a constant speed from the second position to the final stop position is determined; When the relationship between the first time and the braking time meets a preset condition, the target deceleration requested by the automatic emergency braking function is adjusted according to the first speed and the automotive safety integrity level of the automatic emergency braking function.

2. The vehicle emergency brake control method according to claim 1, characterized by, The determination of the braking time and the final stop position of the ego vehicle according to the first speed and the first position comprises: According to the first speed, the preset braking pressure rising time and the preset maximum braking deceleration, the third speed of the ego vehicle after experiencing the braking pressure rising phase is calculated; The response delay time of the automatic emergency braking function is acquired, and then the braking distance of the ego vehicle is calculated according to the first speed, the third speed, the maximum braking deceleration, the response delay time and the braking pressure rising time; According to the first position and the braking distance, the final stop position is determined; The braking time is calculated according to the third speed, the maximum braking deceleration, the response delay time and the braking pressure rising time.

3. The vehicle emergency brake control method according to claim 2, characterized by, The calculation of the braking distance of the ego vehicle according to the first speed, the third speed, the maximum braking deceleration, the response delay time and the braking pressure rising time comprises: According to the first speed and the response delay time, the first travel distance of the ego vehicle in the automatic emergency braking function response delay phase is calculated; According to the first speed, the maximum braking deceleration and the braking pressure rising time, the second travel distance of the ego vehicle in the braking pressure rising phase is calculated; According to the third speed and the maximum braking deceleration, the third travel distance of the ego vehicle when continuously decelerating under the maximum braking force until stopping is calculated; According to the first travel distance, the second travel distance and the third travel distance, the braking distance is calculated.

4. The vehicle emergency brake control method according to claim 2, characterized by The calculation of the braking time according to the third speed, the maximum braking deceleration, the response delay time and the braking pressure rising time comprises: According to the third speed and the maximum braking deceleration, the second time required for the ego vehicle to continuously decelerate under the maximum braking force until stopping is calculated; According to the response delay time, the braking pressure rising time and the second time, the braking time is calculated.

5. The vehicle emergency brake control method according to claim 1, characterized by, The adjustment of the target deceleration requested by the automatic emergency braking function according to the first speed and the automotive safety integrity level of the automatic emergency braking function comprises: The automotive safety integrity level of the automatic emergency braking function is adjusted to obtain a target automotive safety integrity level; According to the first speed and the target automotive safety integrity level, a table lookup operation is performed to obtain a deceleration constraint range; According to the deceleration constraint range, a target deceleration requested by an automatic emergency braking function is limited.

6. The vehicle emergency brake control method according to claim 1, characterized by, The relationship between the first time length and the braking time length satisfies a preset condition.

7. A vehicle emergency brake control device characterized by comprising: The device comprises: An acquisition module, configured to acquire a first speed and a first position of a host vehicle when the host vehicle triggers an automatic emergency braking function, and acquire a second speed and a second position of a vehicle in front of a lane where the host vehicle is located; A first determination module, configured to determine a braking time length and a final stop position of the host vehicle according to the first speed and the first position; A second determination module, configured to determine a first time length required for the vehicle in front to travel at a constant speed from the second position to the final stop position according to the second speed; A processing module, configured to down-regulate a target deceleration requested by an automatic emergency braking function according to the first speed and an automotive safety integrity level of the automatic emergency braking function when a relationship between the first time length and the braking time length satisfies a preset condition.

8. An electronic device, comprising: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the vehicle emergency braking control method in any one of claims 1 to 6 when executing the computer program.

9. A vehicle characterized by comprising: The vehicle comprises the vehicle emergency braking control device in claim 7 or the electronic device in claim 8.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the vehicle emergency braking control method in any one of claims 1 to 6.

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