Cooperative automatic emergency braking method and system based on motorcade interconnection technology

Abstract

The invention relates to the technical field of intelligent driving, and particularly discloses a cooperative automatic emergency braking method and system based on a motorcade interconnection technology, and the method comprises the steps: carrying out the networking of vehicles in a motorcade through a motorcade interconnection network, and forming a motorcade network; enabling the vehicles in the motorcade to share the sensor information based on the motorcade network, and carrying out the cooperative sensing of the vehicles in the motorcade based on the sensor information, so as to obtain the information of a dangerous target outside the view range of the vehicle or in a blind area; when a dangerous condition is detected, the vehicles in the motorcade make a collaborative decision, and a collaborative braking or collision avoidance strategy is generated; and executing automatic emergency braking or collision avoidance action according to the collaborative decision result. According to the method and the system, the vehicles can obtain risk information beyond the view field range of the vehicles through sensor information sharing among the vehicle teams, so that the sensing range of the AEB is expanded from a single vehicle to the whole vehicle team, and the collision risk caused by sensing delay, missing detection or insufficient precision and unreasonable regulation and control tracks is fundamentally reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, specifically to a cooperative automatic emergency braking method and system based on fleet interconnection technology. Background Technology

[0002] In urban intersections, pedestrians, bicycles, and electric bicycles frequently cross the road via VRUs. Because the view at intersections is often obstructed by buildings, parked vehicles, etc., "ghost peek" accidents are very likely to occur, where a VRU suddenly enters the lane from a blind spot, leaving the driver with very little time to react.

[0003] The existing technology has the following limitations: 1. Limitations of AEB: In the event of a VRU suddenly intruding, emergency braking alone may not be able to avoid a collision due to insufficient braking distance, and the braking may be initiated too late, resulting in insufficient braking comfort and the risk of rear-end collision.

[0004] 2. Perception lag: Relying solely on onboard sensors (cameras, radar) can only detect risks after the VRU "appears," thus losing valuable early warning time.

[0005] 3. Limited strategy: The existing system lacks the ability to utilize the special geographical information of intersections and cannot execute more advanced collision avoidance strategies such as "detour and avoidance".

[0006] Therefore, there is an urgent need for an active safety solution that can "anticipate risks" and "utilize the environment" for multi-dimensional collision avoidance. Summary of the Invention

[0007] This invention aims to utilize fleet interconnection technology to achieve coordinated deceleration of vehicles in a fleet by sharing information such as the position, speed, driver status, and sensor data of the vehicle and other vehicles within the fleet. Even when a following vehicle cannot stop, the preceding vehicle can still avoid a collision by utilizing adjacent space to move forward, left, or right a certain distance. This solution overcomes the limitations of traditional AEB (Automatic Emergency Braking) and significantly improves overall safety, comfort, and driving efficiency. Therefore, this application provides a cooperative automatic emergency braking method based on fleet interconnection technology, including: Step S1: Connect the vehicles in the fleet to form a fleet network through the fleet interconnection network; Step S2: Based on the fleet network, enable vehicles in the fleet to share sensor information, including vehicle position, speed, driver status, and sensor data; Step S3: Based on the sensor information, the vehicles in the convoy perform collaborative perception to obtain information on dangerous targets outside their own field of vision or in blind spots; Step S4: When a dangerous situation is detected, the vehicles in the convoy make coordinated decisions to generate a coordinated braking or collision avoidance strategy; Step S5: Based on the collaborative decision-making results, execute automatic emergency braking or collision avoidance actions.

[0008] In some specific embodiments, in step S2, the sensor information sharing uses multi-vehicle sensor information fusion technology to fuse the original information of other vehicles' vision, lidar, and millimeter-wave radar with the perception information of the vehicle itself, so as to improve the perception range and accuracy of the vehicle itself.

[0009] In some specific embodiments, step S3 includes: The vehicle obtains information about dangerous targets outside its field of vision or in its blind spot from sensor information shared by the vehicle in front or behind.

[0010] In some specific embodiments, step S4, the collaborative decision-making includes: The vehicle in front informs the vehicle behind of a dangerous target ahead, allowing the vehicle behind to slow down in advance; The following vehicle informs the vehicle in front of the information about obstacles in the adjacent lane behind it, so that the vehicle in front can choose a suitable planned route to reduce the risk of collision when changing lanes.

[0011] In some specific embodiments, in step S4, when the vehicle cannot avoid colliding with the vehicle in front even when braking at maximum deceleration, it initiates a movement request to the vehicle in front in the convoy. The movement request includes moving forward, to the left, or to the right. The vehicle in front cooperates by performing the movement action according to the movement request to create braking space for the vehicle.

[0012] In some specific embodiments, in step S4, the collaborative decision-making combines the planned trajectories of multiple vehicles in the convoy to select the optimal collision avoidance route, thereby expanding the solution space and improving driving comfort.

[0013] To achieve the same inventive objective, this application also provides a cooperative automatic emergency braking system based on fleet interconnection technology, comprising: Fleet networking module: Used to network the vehicles in a fleet through a fleet interconnection network to form a fleet network; Information sharing module: used to enable vehicles in the fleet to share sensor information based on the fleet network, the sensor information including vehicle position, speed, driver status and sensor data; Collaborative perception module: Used for vehicles in the convoy to perform collaborative perception based on the sensor information, in order to obtain information on dangerous targets outside the vehicle's field of vision or in the blind spot; Collaborative Decision Module: Used to enable vehicles in the convoy to make collaborative decisions and generate collaborative braking or collision avoidance strategies when a dangerous situation is detected; Execution module: Used to execute automatic emergency braking or collision avoidance actions based on the results of collaborative decision-making.

[0014] In some specific embodiments, the information sharing module uses multi-vehicle sensor information fusion technology to fuse the original information from other vehicles' vision, lidar, and millimeter-wave radar with the perception information of the vehicle itself, thereby improving the perception range and accuracy of the vehicle.

[0015] In some specific embodiments, the collaborative decision-making module includes: The vehicle in front informs the vehicle behind of a dangerous target ahead, allowing the vehicle behind to slow down in advance; The following vehicle informs the vehicle in front of the information about obstacles in the adjacent lane behind it, so that the vehicle in front can choose a suitable planned route to reduce the risk of collision when changing lanes.

[0016] In some specific embodiments, in the collaborative decision-making module, when the vehicle cannot avoid a collision with the vehicle in front even when braking at maximum deceleration, it initiates a movement request to the vehicle in front in the convoy. The movement request includes moving forward, left, or right. The vehicle in front cooperates by performing the movement action according to the movement request to create braking space for the vehicle.

[0017] The beneficial effects of the above technical solution are as follows: The collaborative AEB system based on fleet interconnection technology provided by this invention has the following significant advantages compared with existing technologies: 1. Significantly enhances driving safety by enabling "beyond visual range" risk perception. Traditional AEB systems are limited by the physical limitations and obstructions of the vehicle's sensors, resulting in blind spots. This invention, through sensor information sharing among vehicle platoons, allows vehicles to acquire risk information beyond their own field of vision (e.g., a vehicle cutting in front of the vehicle ahead), thus extending the AEB's perception range from a single vehicle to the entire platoon. This "beyond visual range" perception capability enables the system to detect potential hazards earlier, allowing valuable time for decision-making and braking, upgrading from "passive response" to "active warning," fundamentally reducing the collision risk caused by perception delays or omissions.

[0018] 2. Optimized braking strategy significantly improves driving comfort and traffic efficiency. Traditional AEB (Autonomous Emergency Braking) typically only triggers full braking under extremely high collision risks to avoid false triggering, resulting in a strong jerk and a poor experience. This invention achieves smoother and smarter braking control through convoy collaborative decision-making. For example, after receiving a hazard warning from the vehicle in front, the following vehicle can perform early and gentle deceleration instead of emergency braking at the last minute. At the same time, by combining multi-vehicle planned trajectories, the system can select the optimal collaborative collision avoidance path for the entire convoy, avoiding the chain reaction caused by a single vehicle's sudden braking. Thus, while ensuring safety, it greatly improves the overall traffic efficiency of the convoy and the comfort of all occupants.

[0019] 3. Breaking Physical Limits, Creating New Possibilities for Collision Avoidance. In traditional AEB systems, a collision is unavoidable when the vehicle's braking distance is insufficient. This invention introduces an innovative "cooperative collision avoidance" mechanism. When the vehicle cannot avoid a collision even with maximum deceleration braking, it can send a movement request to the vehicle in front in the same convoy. Upon receiving the request, the vehicle in front can make full use of the adjacent space (such as lane width) to move slightly forward, left, or right, creating additional braking space for the following vehicle. This cooperative mode of "the vehicle in front yields, the vehicle behind brakes" breaks through the physical limits of single-vehicle AEB, enabling the avert of danger in extreme scenarios and achieving safety effects that traditional technologies cannot achieve.

[0020] 4. Enhance system robustness and reduce function suppression and false alarms. When a single vehicle performs perception fusion based on its own sensors, it is susceptible to "corner cases" such as severe weather and complex scenarios, leading to unstable information or forced function suppression. This invention provides more accurate and stable target state information for each vehicle by sharing direct information such as vehicle position and speed among vehicle platoons, reducing reliance on a single perception source. This multi-source information cross-validation mechanism enhances the system's reliability and robustness in complex environments, enabling the AEB function to be reliably activated in more scenarios and reducing the safety risks caused by function suppression due to concerns about false triggering. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart illustrating a cooperative automatic emergency braking method based on fleet interconnection technology, provided as an embodiment of the present invention; Figure 2 A schematic diagram of a cooperative automatic emergency braking system based on fleet interconnection technology is provided as an embodiment of the present invention; Figure 3 A schematic diagram of the architecture of a cooperative automatic emergency braking system based on fleet interconnection technology is provided as an embodiment of the present invention; Figure 4 This is an operational schematic diagram of a cooperative automatic emergency braking system based on fleet interconnection technology, provided as an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar symbols denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0025] Example 1 One embodiment of the present invention provides a cooperative automatic emergency braking method based on fleet interconnection technology, referring to... Figure 1 As shown, it includes: Scenario setting: On a highway, three vehicles equipped with this cooperative AEB system (vehicle C, vehicle B in front, and lead vehicle A) form a cooperative convoy and are traveling in sequence at a high speed.

[0026] Step S1: Connect the vehicles in the fleet to form a fleet network through the fleet interconnection network; Vehicles A, B, and C automatically discover each other and complete identity authentication and secure link establishment during the journey through their onboard V2X communication units (corresponding to the fleet interconnection network), forming a stable fleet network. This network provides the communication foundation for subsequent data exchange.

[0027] Step S2: Based on the fleet network, enable vehicles in the fleet to share sensor information, including vehicle position, speed, driver status, and sensor data; In a specific embodiment of the present invention, in step S2, the sensor information sharing uses multi-vehicle sensor information fusion technology to fuse the original information of other vehicles' vision, lidar, and millimeter-wave radar with the perception information of the vehicle itself, so as to improve the perception range and accuracy of the vehicle itself.

[0028] After successful network setup, the three vehicles continuously share sensor information through the network. This information is broadcast at a high frequency (e.g., 10 times per second), including: Vehicle status data: its precise GPS location, speed, acceleration, and heading angle.

[0029] Sensing sensor data: A list of targets (such as the relative position, speed, and size of vehicles and obstacles) sensed by their respective camera images, LiDAR point clouds, and millimeter-wave radar.

[0030] Step S3: Based on the sensor information, the vehicles in the convoy perform collaborative perception to obtain information on dangerous targets outside their own field of vision or in blind spots; In a specific embodiment of the present invention, step S3 includes: The vehicle obtains information about dangerous targets outside its field of vision or in its blind spot from sensor information shared by the vehicle in front or behind.

[0031] At time T0: A malfunctioning truck (dangerous target O) suddenly cuts into front of the lead vehicle A from the adjacent lane. Vehicle A's sensors immediately detect target O.

[0032] Almost simultaneously, vehicle A shared the information about a stationary obstacle ahead via the fleet network.

[0033] At this point, the lines of sight of vehicle B and vehicle C are completely obstructed by the vehicle in front, making it impossible for them to directly detect target O through their own vehicle sensors. However, through the information shared in step S2, the systems of vehicle B and vehicle C successfully acquire this critical hazard information that was originally outside the vehicle's field of vision or in its blind spot, and generate the trajectory of target O in their respective fusion perception models.

[0034] Step S4: When a dangerous situation is detected, the vehicles in the convoy make coordinated decisions to generate a coordinated braking or collision avoidance strategy; In a specific embodiment of the present invention, step S4, the collaborative decision-making includes: The vehicle in front informs the vehicle behind of a dangerous target ahead, allowing the vehicle behind to slow down in advance; The following vehicle informs the vehicle in front of the information about obstacles in the adjacent lane behind it, so that the vehicle in front can choose a suitable planned route to reduce the risk of collision when changing lanes.

[0035] In a specific embodiment of the present invention, in step S4, when the vehicle cannot avoid colliding with the vehicle in front even when braking at maximum deceleration, it initiates a movement request to the vehicle in front in the convoy. The movement request includes moving forward, to the left, or to the right. The vehicle in front cooperates by performing the movement action according to the movement request to create braking space for the vehicle.

[0036] In a specific embodiment of the present invention, in step S4, the collaborative decision-making combines the planned trajectories of multiple vehicles in the fleet to select the optimal collision avoidance route, thereby expanding the solution space and improving driving comfort.

[0037] Specifically, the system initiates a collaborative decision-making algorithm based on the fused global information.

[0038] Decision 1 (corresponding to claim 3): While vehicle A is braking, its decision module generates and sends a coordinated decision message: "Emergency braking by the vehicle in front, beware of those behind." After receiving this message, vehicle B and vehicle C determine that coordinated warning braking needs to be performed, that is, a braking strategy with a smaller and smoother deceleration than vehicle A is generated, thereby achieving coordinated deceleration of the convoy and avoiding chain-reaction rear-end collisions.

[0039] Decision 2 (corresponding to claim 4, extreme scenario): The decision module of vehicle C calculates that, due to the initial following distance being too close, even if "cooperative warning braking" is executed and braking is performed at maximum deceleration, its braking distance is still insufficient to completely avoid a collision with the vehicle in front, vehicle B.

[0040] In this critical situation, vehicle C's decision-making module generates an innovative cooperative collision avoidance strategy: through the fleet network, it sends a "request to move 0.3 meters to the left" movement request to vehicle B.

[0041] Upon receiving this request, vehicle B's decision-making module immediately combines its own sensors (such as side and rear radar) and shared information to evaluate the situation, confirm that the left rear is safe, and determine that cooperating with movement is the optimal and feasible strategy.

[0042] Step S5: Based on the collaborative decision-making results, execute automatic emergency braking or collision avoidance actions.

[0043] Based on the decision generated in step S4, vehicles A, B, and C will execute actions by their respective execution modules (such as ESP and EPS): Vehicles A, B, and C all applied their brakes, achieving a smooth and coordinated deceleration of the convoy.

[0044] At the same time, the actuator module of vehicle B initiated slight steering control, causing the vehicle to move smoothly to the left by about 0.3 meters.

[0045] The actuator of vehicle C continuously applies braking at the maximum safe deceleration.

[0046] Final result: Because the movement of vehicle B created additional braking space, vehicle C successfully stopped when it was only a small distance away from vehicle B, and a potential collision was successfully avoided.

[0047] This embodiment achieves collaborative perception through information sharing, solving the blind spot problem. It also generates various strategies, including conventional collaborative braking and innovative movement requests, through collaborative decision-making. Finally, it transforms decisions into actual actions through execution, which not only improves comfort but also ensures absolute safety through fleet collaboration in extreme scenarios where a single vehicle's AEB fails.

[0048] Example 2 One embodiment of the present invention provides a cooperative automatic emergency braking system based on fleet interconnection technology, referring to... Figures 2-4 As shown, it includes: Fleet networking module 10: Used to network the vehicles in the fleet through the fleet interconnection network to form a fleet network; Information sharing module 20: used to enable vehicles in the fleet to share sensor information based on the fleet network, the sensor information including vehicle position, speed, driver status and sensor data; Collaborative perception module 30: Based on the sensor information, vehicles in the convoy perform collaborative perception to obtain information on dangerous targets outside the vehicle's field of vision or in the blind spot; Collaborative Decision Module 40: When a dangerous situation is detected, vehicles in the convoy make collaborative decisions to generate collaborative braking or collision avoidance strategies. Execution module 50: Used to execute automatic emergency braking or collision avoidance actions based on the results of collaborative decision-making.

[0049] In a specific embodiment of the present invention, in the information sharing module 20, the sensor information sharing uses multi-vehicle sensor information fusion technology to fuse the original information of other vehicles' vision, lidar, and millimeter-wave radar with the perception information of the own vehicle, so as to improve the perception range and accuracy of the own vehicle.

[0050] In one specific embodiment of the present invention, the collaborative decision-making module 40 includes: The vehicle in front informs the vehicle behind of a dangerous target ahead, allowing the vehicle behind to slow down in advance; The following vehicle informs the vehicle in front of the information about obstacles in the adjacent lane behind it, so that the vehicle in front can choose a suitable planned route to reduce the risk of collision when changing lanes.

[0051] In one specific embodiment of the present invention, in the collaborative decision-making module 40, when the vehicle cannot avoid colliding with the vehicle in front even when braking at maximum deceleration, a movement request is initiated to the vehicle in front in the convoy. The movement request includes moving forward, left, or right. The vehicle in front cooperates to perform the movement action according to the movement request, creating braking space for the vehicle.

[0052] In one specific embodiment of the present invention, in the collaborative decision-making module 40, the collaborative decision-making combines the planned trajectories of multiple vehicles in the fleet to select the optimal collision avoidance route, thereby expanding the solution space and improving driving comfort.

[0053] 1. System Architecture and Networking refer to Figure 3 As shown, the collaborative AEB system in this embodiment mainly includes the following modules: Fleet networking module 10: Based on V2X (vehicle-to-everything) technology, it establishes a temporary self-organizing network among vehicles within a specific communication range (e.g., 300 meters) to form a collaborative fleet.

[0054] Information sharing module 20: Vehicles in the convoy broadcast their own data at a high frequency (e.g., 10 times per second) through this module, including: absolute position, speed, acceleration, heading angle, as well as camera images, lidar point clouds, and a list of environmental targets perceived by millimeter-wave radar (such as the position and speed of other vehicles, pedestrians, and obstacles).

[0055] Collaborative perception module 30 and collaborative decision-making module 40: This is the "brain" of the system. It receives and fuses all information from the vehicle's sensors and other vehicles in the convoy, constructing a "God's-eye view" environmental model that transcends the field of vision of a single vehicle. Based on this fused model, the module runs a collaborative decision-making algorithm to calculate the optimal collaborative braking or collision avoidance strategy for the vehicles in the convoy.

[0056] Execution module 50: Responsible for executing the instructions issued by the decision module and controlling the vehicle's braking system, steering system, etc.

[0057] 2. Scene Setup and Initial State like Figure 4 As shown, a convoy of three vehicles is traveling on the highway.

[0058] Vehicle A (lead vehicle) Vehicle B (middle vehicle) follows closely behind vehicle A.

[0059] Vehicle C (following vehicle) closely follows vehicle B. All three vehicles are equipped with this cooperative AEB system and have successfully formed a network through the convoy networking module. At this time, the convoy maintains a safe following distance and travels at a constant speed.

[0060] 3. Hazard Occurrence and Collaborative Perception At time T0: An out-of-control pickup truck (dangerous target O) suddenly cuts from the right lane to the left, forcibly cutting in front of vehicle A. Vehicle A's sensors detect target O immediately and broadcast the "emergency obstacle cutting in front" information (including its position, speed, and acceleration) to vehicles B and C in the convoy via the information sharing module.

[0061] Collaborative perception effect: At this time, because the line of sight of vehicles B and C is blocked by vehicle A, their own vehicle sensors cannot directly detect the dangerous target O. However, through the collaborative perception of this system, vehicles B and C "see" the dangerous target reported by vehicle A, which is located in the blind spot, in their respective fusion environments with almost zero latency.

[0062] 4. Collaborative decision-making and execution Based on the behavior of the hazardous target O and the real-time status of the three vehicles, the system triggers a collaborative decision-making process: Level 1 coordination (early warning and comfort braking): Vehicle A itself triggered AEB and began to decelerate.

[0063] Meanwhile, the collaborative decision-making module calculates that if vehicles B and C rely solely on their own sensors, braking will only be triggered after target O appears, which will be too late and result in violent braking.

[0064] Therefore, the system issues a "cooperative warning braking" command to vehicles B and C. Based on shared information, vehicles B and C begin to apply a moderate and smooth braking force almost simultaneously with vehicle A.

[0065] Beneficial effects include: avoiding panic braking by following vehicles (B and C) due to sudden discovery of danger, greatly improving driving comfort, and significantly reducing the risk of being rear-ended.

[0066] Level 2 Collaboration (Innovative Collision Avoidance in Extreme Scenarios): Suppose that vehicle C, due to following too closely or reacting too slowly, even if it performs pre-collision braking, its system predicts that it still cannot completely avoid a collision.

[0067] At this point, vehicle C's collaborative decision-making module activates a higher-level strategy. It calculates that if vehicle B in front can move slightly to the right, it can create additional braking space for itself.

[0068] At time T1: Vehicle C sends a "cooperative movement request" to vehicle B through the fleet network, requesting vehicle B to "move 0.5 meters to the right".

[0069] Upon receiving this request, vehicle B's system immediately assesses its environment (confirming that there is no vehicle approaching from the right rear through its own sensors and shared information from vehicle C) and determines that the request is safe and feasible.

[0070] Vehicle B's execution module then activated a gentle steering assist, causing the vehicle to move approximately 0.5 meters to the right within its lane.

[0071] At the same time, vehicle C gained more forward space, allowing it to continue braking at full force.

[0072] Ultimately, vehicle C successfully braked to a stop just millimeters away from vehicle B, thus averting a chain collision.

[0073] This embodiment clearly demonstrates how the present invention upgrades the traditional single-vehicle AEB to a swarm intelligence system through three core technologies: fleet sensor information sharing, fleet decision-making collaboration, and fleet data interconnection. It not only detects risks in advance through "beyond line of sight" perception and optimizes comfort and efficiency through coordinated braking, but also creates entirely new possibilities for averting danger in extreme scenarios where single-vehicle AEB is ineffective, through proactive cooperation between vehicles (movement requests), thereby achieving a leapfrog improvement in safety.

[0074] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0075] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The steps of the functions specified in one or more boxes. Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the invention. Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0076] The methods and apparatus provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

[0077] In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "a specific embodiment" or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A cooperative automatic emergency braking method based on fleet interconnection technology, characterized in that, include: Step S1: Connect the vehicles in the fleet to form a fleet network through the fleet interconnection network; Step S2: Based on the fleet network, enable vehicles in the fleet to share sensor information, including vehicle position, speed, driver status, and sensor data; Step S3: Based on the sensor information, the vehicles in the convoy perform collaborative perception to obtain information on dangerous targets outside their own field of vision or in blind spots; Step S4: When a dangerous situation is detected, the vehicles in the convoy make coordinated decisions to generate a coordinated braking or collision avoidance strategy; Step S5: Based on the collaborative decision-making results, execute automatic emergency braking or collision avoidance actions.

2. The cooperative automatic emergency braking method based on fleet interconnection technology according to claim 1, characterized in that, In step S2, the sensor information sharing uses multi-vehicle sensor information fusion technology to fuse the original information of other vehicles' vision, lidar, and millimeter-wave radar with the perception information of the vehicle itself, so as to improve the perception range and accuracy of the vehicle itself.

3. The cooperative automatic emergency braking method based on fleet interconnection technology according to claim 1, characterized in that, Step S3 includes: The vehicle obtains information about dangerous targets outside its field of vision or in its blind spot from sensor information shared by the vehicle in front or behind.

4. The cooperative automatic emergency braking method based on fleet interconnection technology according to claim 1, characterized in that, In step S4, the collaborative decision-making includes: The vehicle in front informs the vehicle behind of a dangerous target ahead, allowing the vehicle behind to slow down in advance; The following vehicle informs the vehicle in front of the information about obstacles in the adjacent lane behind it, so that the vehicle in front can choose a suitable planned route to reduce the risk of collision when changing lanes.

5. The cooperative automatic emergency braking method based on fleet interconnection technology according to claim 1, characterized in that, In step S4, when the vehicle cannot avoid colliding with the vehicle in front even when braking at maximum deceleration, it sends a movement request to the vehicle in front in the convoy. The movement request includes moving forward, to the left, or to the right. The vehicle in front cooperates by performing the movement action according to the movement request to create braking space for the vehicle.

6. The cooperative automatic emergency braking method based on fleet interconnection technology according to claim 1, characterized in that, In step S4, the collaborative decision-making combines the planned trajectories of multiple vehicles in the convoy to select the optimal collision avoidance route, thereby expanding the solution space and improving driving comfort.

7. A cooperative automatic emergency braking system based on fleet interconnection technology, characterized in that, include: Fleet networking module: Used to network the vehicles in a fleet through a fleet interconnection network to form a fleet network; Information sharing module: used to enable vehicles in the fleet to share sensor information based on the fleet network, the sensor information including vehicle position, speed, driver status and sensor data; Collaborative perception module: Used for vehicles in the convoy to perform collaborative perception based on the sensor information, in order to obtain information on dangerous targets outside the vehicle's field of vision or in the blind spot; Collaborative Decision Module: Used to enable vehicles in the convoy to make collaborative decisions and generate collaborative braking or collision avoidance strategies when a dangerous situation is detected; Execution module: Used to execute automatic emergency braking or collision avoidance actions based on the results of collaborative decision-making.

8. The cooperative automatic emergency braking system based on fleet interconnection technology according to claim 7, characterized in that, In the information sharing module, the sensor information sharing uses multi-vehicle sensor information fusion technology to integrate the original information from other vehicles' vision, lidar, and millimeter-wave radar with the perception information of the vehicle itself, thereby improving the perception range and accuracy of the vehicle.

9. The cooperative automatic emergency braking system based on fleet interconnection technology according to claim 7, characterized in that, In the collaborative decision-making module, the collaborative decision-making includes: The vehicle in front informs the vehicle behind of a dangerous target ahead, allowing the vehicle behind to slow down in advance; The following vehicle informs the vehicle in front of the information about obstacles in the adjacent lane behind it, so that the vehicle in front can choose a suitable planned route to reduce the risk of collision when changing lanes.

10. The cooperative automatic emergency braking system based on fleet interconnection technology according to claim 7, characterized in that, In the collaborative decision-making module, when the vehicle cannot avoid a collision with the vehicle in front even when braking at maximum deceleration, it initiates a movement request to the vehicle in front in the convoy. The movement request includes moving forward, left, or right. The vehicle in front cooperates by performing the movement action according to the movement request to create braking space for the vehicle.

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