AEB requested deceleration calculation method for vehicle, electronic device, and storage medium

Abstract

The invention provides an AEB request deceleration calculation method for a vehicle, electronic equipment and a storage medium. The AEB request deceleration calculation method comprises the following steps that whether a driving vehicle and a target vehicle have a collision risk or not is judged; if yes, calculating a collision point location when the driving vehicle collides with the target vehicle, and calculating a first collision distance according to the collision point location; calculating a first driving distance according to the deceleration upper limit of the driving vehicle, and calculating a first value range of a requested deceleration change rate of the driving vehicle according to the first collision distance and the first driving distance; a brake of a driving vehicle is controlled to request a rate of deceleration change in response. The technical problems that due to the fact that the vehicle has the deceleration upper limit during braking, a brake can respond to the requested deceleration when the vehicle just starts to decelerate, after the upper limit is reached, even if the value of the requested deceleration is increased, the brake cannot further respond, and the collision risk of the vehicle is increased are solved.

Description

Technical Field

[0001] This invention relates to the field of vehicle braking technology, and more specifically, to a method for calculating AEB (Autonomous Emergency Braking) deceleration requests for vehicles, an electronic device, and a storage medium. Background Technology

[0002] Automatic Emergency Braking (AEB) is a core safety function in Advanced Driver Assistance Systems (ADAS), widely used in passenger cars and commercial vehicles. It automatically applies brakes when a collision risk is detected with a vehicle ahead, pedestrian, two-wheeled vehicle, or other obstacle, thereby reducing or avoiding a collision. In existing technologies, AEB systems typically determine and output the requested deceleration for automatic emergency braking based on Time-of-Collision (TTC), required deceleration, or a safe distance model.

[0003] However, the relevant technology has at least one of the following problems: because the vehicle has a deceleration limit when braking, the brake can respond to the request for deceleration when the vehicle just begins to decelerate, but after reaching the limit, even if the value of the requested deceleration is increased, the brake cannot respond further, which increases the risk of vehicle collision. Summary of the Invention

[0004] The technical problem solved by this invention is that a vehicle has a deceleration limit when braking, which means that the brake can respond to the request for deceleration when the vehicle just begins to decelerate, but after reaching the limit, even if the value of the requested deceleration is increased, the brake cannot respond further, which increases the risk of vehicle collision.

[0005] To address the aforementioned problems, this invention provides a method for calculating AEB (Autonomous Emergency Braking) request deceleration for vehicles, comprising the following steps: controlling sensors to acquire first motion parameters of the driving vehicle and second motion parameters of the target vehicle; determining, based on the first and second motion parameters, whether there is a risk of collision between the driving vehicle and the target vehicle; if so, calculating the collision point of the driving vehicle and the target vehicle based on the first and second motion parameters, and calculating a first collision distance based on the collision point. The first travel distance is calculated based on the maximum deceleration limit of the vehicle. According to the first collision distance Distance from the first driving distance The rate of change of the requested deceleration of the driving vehicle was calculated. The first range of values; the rate of change of deceleration in response to brake requests of the driving vehicle. .

[0006] Compared with existing technologies, the technical effects achieved by this solution are as follows: by calculating the requested deceleration rate of change based on the actual response characteristics of the vehicle, and by back-calculating the range of the requested deceleration rate of change based on the collision point and the first collision distance, AEB can achieve a higher actual collision avoidance success rate on real vehicles.

[0007] In one embodiment of the present invention, the first travel distance is calculated based on the upper limit of the deceleration of the driving vehicle. This includes: defining the rate of change of deceleration of a driving vehicle in response to a request. Maximum deceleration achieved during deceleration The time is the first braking time. According to the first braking time and the rate of change of deceleration in response to driving vehicle requests Actual braking time The minimum value among them is used as the reference braking time. Based on reference braking time and the requested rate of change of deceleration Calculate the first driving distance And follow the formulas 1 to 2 below: Formula 1: ; Formula 2: ; Define the first driving distance Less than the first collision distance The calculated rate of change of the requested deceleration The first range of values, and follows the formula 3 below: Formula 3: ; in, This indicates the initial speed value of the vehicle. This indicates the initial deceleration value of the vehicle.

[0008] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: the smaller value between the first braking time and the actual braking response time is introduced as the reference braking time, and the first driving distance of the vehicle under the response delay constraint is accurately calculated accordingly, ensuring that the output requested deceleration rate of change can be achieved within the vehicle's physical limits, and avoiding the situation where the theoretical value exceeds the actual execution capability.

[0009] In one embodiment of the present invention, the collision point includes a first predicted point. Second prediction point The collision point between the driving vehicle and the target vehicle is calculated based on the first and second motion parameters, and the first collision distance is calculated based on the collision point. This includes: defining two inflection points on the side of the target vehicle closest to the driver as the first inflection point and the second inflection point, and obtaining the first coordinate information of the first inflection point. Second coordinate information of the second inflection point Based on the first coordinate information Second coordinate information Calculate the x-coordinate values ​​of the first and second prediction points, following formulas 4 and 5. Formula 4: ; Formula 5: ; in, This is the first width value for the vehicle being driven.

[0010] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: It proposes to calculate the two predicted collision points on the left and right sides based on the two actual inflection points of the target vehicle on the side closest to the vehicle, which fully considers the actual width profile of the vehicle and further enhances the vehicle's ability to avoid risks.

[0011] In one embodiment of the present invention, the collision point when the driving vehicle collides with the target vehicle is calculated based on the first motion parameters and the second motion parameters, and the first collision distance is calculated based on the collision point. It also includes: calculating the ordinate values ​​of the first and second predicted points based on their abscissa values, following formulas 6 to 7: Formula 6: ; Formula 7: ; The minimum ordinate value between the first and second predicted points is defined as the first collision distance. And follow the following formula 8: Formula 8: .

[0012] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: based on the obtained horizontal coordinates of the left and right prediction points, the vertical coordinates of the two prediction points are further calculated more accurately, and the smaller value of the vertical coordinates is taken as the first collision distance, which fully takes into account all positions of the vehicle's collision point.

[0013] In one embodiment of the present invention, the actual braking time is... Discretization process yields multiple discrete time points Define discrete time points According to each discrete time point Repeatedly calculate the corresponding discrete deceleration rate of change And follow the following formula 9: Formula 9: ; in, Representing discrete time points The maximum value, To be based on discrete time points The first collision distance is recalculated.

[0014] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: by discretizing the actual braking time and iteratively calculating the discrete deceleration rate of change point by point, a smooth and followable deceleration rate of change curve can be output in real time.

[0015] In one embodiment of the present invention, the first motion parameter includes a first lateral velocity. First longitudinal velocity First lateral acceleration and first longitudinal acceleration The second motion parameter includes the second lateral velocity. Second longitudinal velocity Determining whether there is a risk of collision between the driving vehicle and the target vehicle based on the first motion parameter and the second motion parameter includes: based on the first lateral velocity. and first lateral acceleration Calculate the driving vehicle in The first lateral distance traveled within a time period According to the first longitudinal velocity and first longitudinal acceleration Calculate the driving vehicle in The first longitudinal distance traveled within a time period And follow the formulas 10 to 11 below: Formula 10: ; Formula 11: ; According to the second lateral velocity Calculate the target vehicle in The second lateral distance traveled within a time period According to the second longitudinal velocity Calculate the target vehicle's travel in Second longitudinal distance within time And follow the formulas 12 to 13 below; Formula 12: ; Formula 13: ; Based on the first lateral distance Second lateral distance Calculate the lateral relative distance between the driving vehicle and the target vehicle. According to the first longitudinal distance Second longitudinal distance Calculate the longitudinal relative distance between the driving vehicle and the target vehicle. And follow the formulas 14 to 15 below: Formula 14: ; Formula 15: ; Based on the relative lateral distance and longitudinal relative distance Determine whether there is a risk of collision between the driving vehicle and the target vehicle; among which... This represents the initial lateral distance between the driving vehicle and the target vehicle. This represents the initial longitudinal distance between the driving vehicle and the target vehicle.

[0016] Compared with existing technologies, the technical effect achieved by adopting this technical solution is that by calculating the relative distance between the driving vehicle and the target vehicle in both the lateral and longitudinal directions, the collision risk between the driving vehicle and the target vehicle can be predicted more accurately.

[0017] In one embodiment of the invention, based on the lateral relative distance and longitudinal relative distance Determining whether there is a risk of collision between the driving vehicle and the target vehicle includes: based on the lateral relative distance. Determine whether the driving vehicle overlaps with the target vehicle to assess the risk of a lateral collision; based on the longitudinal relative distance... The first width value of the driving vehicle and the second width value of the target vehicle The sum of the risks is compared to determine whether there is a longitudinal collision risk between the driving vehicle and the target vehicle; if there is a lateral collision risk and a longitudinal collision risk between the driving vehicle and the target vehicle, then it is determined that there is a collision risk between the driving vehicle and the target vehicle.

[0018] Compared with existing technologies, the technical effects achieved by this solution are as follows: it separately judges whether there is lateral overlap and whether the longitudinal direction has entered a dangerous distance, and only determines that there is a collision risk when both conditions are met. The logic is clear and the judgment is rigorous, which can effectively avoid false triggering in harmless scenarios such as parallel driving and safe lane changing.

[0019] In one embodiment of the present invention, the sensor is a camera and / or millimeter-wave radar.

[0020] Compared with existing technologies, the technical effects achieved by adopting this technical solution are: clearly defining the sensors as cameras and / or millimeter-wave radar, being compatible with the most mainstream sensor solutions in mass-produced vehicles, and having strong engineering feasibility and low-cost advantages.

[0021] On the other hand, the present invention also provides an electronic device, the electronic device comprising: a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein when the program or instructions are executed by the processor, the steps of the AEB request deceleration calculation method as described in any one of claims 1 to 8 are implemented.

[0022] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: it can achieve the technical effects corresponding to any of the above examples, which will not be elaborated here.

[0023] On the other hand, the present invention also provides a storage medium storing a program or instructions, which, when executed by a processor, implement the steps of the AEB request deceleration calculation method as claimed in any one of claims 1 to 8.

[0024] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: it can achieve the technical effects corresponding to any of the above examples, which will not be elaborated here.

[0025] By adopting the technical solution of the present invention, the following technical effects can be achieved: (1) The range of the requested deceleration rate can be obtained by calculating the requested deceleration rate based on the actual response characteristics of the vehicle and by back-calculating based on the collision point and the first collision distance, so that AEB has a higher actual collision avoidance success rate on real vehicles. (2) Introduce the smaller value between the first braking time and the actual braking response time as the reference braking time, and accurately calculate the first driving distance of the vehicle under the response delay constraint to ensure that the output requested deceleration rate of change can be realized within the vehicle's physical limits, and avoid the situation where the theoretical value exceeds the actual execution capability. (3) Based on the obtained horizontal coordinates of the left and right prediction points, the vertical coordinates of the two prediction points are further calculated accurately, and the smaller value of the vertical coordinate is taken as the first collision distance, taking into full account all positions of the vehicle's collision point. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 A schematic diagram of the flow structure of a method for calculating AEB request deceleration for vehicles provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the collision point between the driving vehicle and the target vehicle provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] See Figure 1 This is a schematic diagram of the flow structure of an AEB request deceleration calculation method for vehicles provided in an embodiment of the present invention.

[0029] The AEB request deceleration calculation method specifically includes the following steps: Step S1: Control the sensors to acquire the first motion parameters of the driving vehicle and the second motion parameters of the target vehicle, and determine whether there is a risk of collision between the driving vehicle and the target vehicle based on the first motion parameters and the second motion parameters; Step S2: If so, calculate the collision point when the driving vehicle collides with the target vehicle based on the first motion parameters and the second motion parameters, and calculate the first collision distance based on the collision point. ; Step S3: Calculate the first travel distance based on the vehicle's maximum deceleration. According to the first collision distance Distance from the first driving distance The rate of change of the requested deceleration of the driving vehicle was calculated. The first range of values; Specifically, calculating the first travel distance based on the vehicle's deceleration limit includes increasing the value of the deceleration requested at the start of deceleration, taking into account that the vehicle's brakes will reach the deceleration limit, to improve the vehicle's braking tolerance.

[0030] Step S4: Control the vehicle's braking response to the requested rate of deceleration change. .

[0031] Further, step S3 includes: Step S31: Define the rate of change of deceleration of the driving vehicle in response to the request. Maximum deceleration achieved during deceleration The time is the first braking time. According to the first braking time and the rate of change of deceleration in response to driving vehicle requests Actual braking time The minimum value among them is used as the reference braking time. And reference braking time Follow the formula below: Formula 1: ; Preferably, the first braking time This was obtained through experiments conducted on the brakes of a driving vehicle.

[0032] Preferably, by taking into account that after the brake has been in operation for a period of time, the deceleration reaches its upper limit, and the rate of change of deceleration... It becomes a constant value, therefore the actual deceleration By based on actual deceleration Perform the first driving distance The calculation makes the first travel distance It more closely reflects the actual driving distance of the vehicle after the brakes reach their corresponding characteristics.

[0033] Step S32: Based on the reference braking time and the requested rate of change of deceleration Calculate the first driving distance And follow the following formula 2: Formula 2: ; Step S33: Define the first travel distance Less than the first collision distance The calculated rate of change of the requested deceleration The first range of values, and follows the formula 3 below: Formula 3: ; in, This indicates the initial speed value of the vehicle. This indicates the initial deceleration value of the vehicle.

[0034] Furthermore, the collision point includes the first predicted point. Second prediction point ; Step S2 includes: Step S21: Define the two inflection points on the side of the target vehicle closest to the driver as the first inflection point and the second inflection point, and obtain the first coordinate information of the first inflection point. Second coordinate information of the second inflection point ; For ease of understanding, see the preferred option. Figure 2 In this embodiment of the invention, a coordinate system is established with the driving vehicle as the origin, and the horizontal axis as the y-axis. and The values ​​are on the y-axis, and the vertical axis is the x-axis. and The value is on the x-axis.

[0035] Preferably, in one embodiment of the present invention, the target vehicle and the driving vehicle are tilted relative to each other, and when the target vehicle and the driving vehicle collide, there is only one point of collision.

[0036] Preferably, in this embodiment of the invention, the target vehicle has four straight edges. The one closest to the driving vehicle among the four straight edges is taken as the collision edge. Then the collision point must occur at a point within the straight edge at the front of the driving vehicle and at a point within the collision edge. The coordinates of the collision point fall within the straight line formed by the first inflection point and the second inflection point.

[0037] Step S22: Based on the first coordinate information Second coordinate information Calculate the x-coordinate values ​​of the first and second prediction points, following formulas 4 and 5. Formula 4: ; Formula 5: ; in, This is the first width value for the vehicle being driven.

[0038] Preferably, refer again Figure 2 The first and second prediction points are the intersections of the dashed line in the figure and the collision edge of the target vehicle.

[0039] Furthermore, step S2 also includes: Step S23: Calculate the ordinate values ​​of the first and second predicted points based on their x-coordinate values, following formulas 6 and 7: Formula 6: ; Formula 7: ; Step S24: Define the minimum value of the ordinates of the first predicted point and the second predicted point as the first collision distance. And follow the formula 8 below: Formula 8: .

[0040] Preferably, by taking the minimum value, the actual collision point can be determined, and then the actual first collision distance can be determined. .

[0041] Furthermore, the AEB request deceleration calculation method also includes the following steps: Step S51: Calculate the actual braking time Discretization process yields multiple discrete time points Define discrete time points ; Step S52: Based on each discrete time point Repeatedly calculate the corresponding discrete deceleration rate of change And follow the following formula 9: Formula 9: ; in, Representing discrete time points The maximum value, To be based on discrete time points The first collision distance is recalculated.

[0042] Furthermore, the first motion parameter includes a first lateral velocity. First longitudinal velocity First lateral acceleration and first longitudinal acceleration The second motion parameter includes the second lateral velocity. Second longitudinal velocity ; Step S1 includes: Step S11: Based on the first lateral velocity and first lateral acceleration Calculate the driving vehicle in The first lateral distance traveled within a time period According to the first longitudinal velocity and first longitudinal acceleration Calculate the driving vehicle in The first longitudinal distance traveled within a time period And follow the formulas 10 to 11 below: Formula 10: ; Formula 11: ; Step S12: Based on the second lateral velocity Calculate the target vehicle in The second lateral distance traveled within a time period According to the second longitudinal velocity Calculate the target vehicle's travel in Second longitudinal distance within time And follow the formulas 12 to 13 below; Formula 12: ; Formula 13: ; Step S13: Based on the first lateral distance Second lateral distance Calculate the lateral relative distance between the driving vehicle and the target vehicle. According to the first longitudinal distance Second longitudinal distance Calculate the longitudinal relative distance between the driving vehicle and the target vehicle. And follow the formulas 14 to 15 below: Formula 14: ; Formula 15: ; Step S14: Based on the relative lateral distance and longitudinal relative distance Determine whether there is a risk of collision between the driving vehicle and the target vehicle; among which... This represents the initial lateral distance between the driving vehicle and the target vehicle. This represents the initial longitudinal distance between the driving vehicle and the target vehicle.

[0043] Further, step S14 includes: Step S141: Based on the relative lateral distance Determine whether the driving vehicle overlaps with the target vehicle, thereby determining whether there is a risk of lateral collision between the driving vehicle and the target vehicle; Step S142: Based on the longitudinal relative distance The first width value of the driving vehicle and the second width value of the target vehicle The sum is compared to determine whether there is a risk of longitudinal collision between the driving vehicle and the target vehicle; If the driving vehicle has a risk of lateral collision and a risk of longitudinal collision with the target vehicle, then the driving vehicle is deemed to have a risk of collision with the target vehicle.

[0044] That is, if the relative lateral distance and longitudinal relative distance If the following formula 16 is followed, it is determined that there is a risk of collision between the driving vehicle and the target vehicle; Formula 16: ; Furthermore, the sensors are cameras and / or millimeter-wave radar.

[0045] On the other hand, the present invention also provides an electronic device, the electronic device comprising: a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein when the program or instructions are executed by the processor, the steps of the AEB request deceleration calculation method as described in any one of claims 1 to 8 are implemented.

[0046] On the other hand, the present invention also provides a storage medium storing a program or instructions, which, when executed by a processor, implement the steps of the AEB request deceleration calculation method as claimed in any one of claims 1 to 8.

[0047] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A method for calculating AEB (Autonomous Emergency Braking) request deceleration for vehicles, characterized in that, Includes the following steps: The control sensor acquires a first motion parameter of the driving vehicle and a second motion parameter of the target vehicle, and determines whether there is a risk of collision between the driving vehicle and the target vehicle based on the first motion parameter and the second motion parameter. If so, the collision point when the driving vehicle collides with the target vehicle is calculated based on the first motion parameters and the second motion parameters, and the first collision distance is calculated based on the collision point. ; The first travel distance is calculated based on the maximum deceleration limit of the driving vehicle. According to the first collision distance Compared with the first driving distance The requested rate of change of deceleration of the driving vehicle was calculated. The first range of values; Control the vehicle's brakes in response to the requested rate of deceleration change. .

2. The AEB request deceleration calculation method according to claim 1, characterized in that, The first travel distance is calculated based on the maximum deceleration limit of the driving vehicle. ,include: Define the rate of change of deceleration of the driving vehicle in response to the request. Maximum deceleration achieved during deceleration The time is the first braking time. ; According to the first braking time and the rate of change of deceleration of the driving vehicle in response to the request Actual braking time The minimum value among them is used as the reference braking time. ; According to the reference braking time and the requested rate of change of deceleration Calculate the first driving distance And follow the following formula 2: Official 2: ; Define the first driving distance Less than the first collision distance The rate of change of the requested deceleration was calculated. The first range of values, and follows the formula 3 below: Official 3: ; in, This represents the initial speed value of the vehicle being driven. This represents the initial deceleration value of the vehicle being driven.

3. The AEB request deceleration calculation method according to claim 2, characterized in that, The collision point includes the first prediction point. Second prediction point ; The collision point when the driving vehicle collides with the target vehicle is calculated based on the first motion parameters and the second motion parameters, and the first collision distance is calculated based on the collision point. ,include: Define the two inflection points on the side of the target vehicle closest to the driving vehicle as the first inflection point and the second inflection point, and obtain the first coordinate information of the first inflection point. Second coordinate information of the second inflection point ; According to the first coordinate information and the second coordinate information Calculate the x-coordinate values ​​of the first prediction point and the second prediction point, following formulas 4 to 5; Official 4: ; Official 5: ; in, This is the first width value of the driving vehicle.

4. The AEB request deceleration calculation method according to claim 3, characterized in that, The collision point when the driving vehicle collides with the target vehicle is calculated based on the first motion parameters and the second motion parameters, and the first collision distance is calculated based on the collision point. It also includes: Calculate the ordinate values ​​of the first and second predicted points based on their x-coordinate values, following formulas 6 and 7: Official 6: ; Official 7: ; The minimum ordinate value between the first predicted point and the second predicted point is defined as the first collision distance. .

5. The AEB request deceleration calculation method according to claim 2, characterized in that, The actual braking time Discretization process yields multiple discrete time points Define discrete time points ; Based on each discrete time point Repeatedly calculate the corresponding discrete deceleration rate of change And follow the following formula 9: Official 9: ; in, Representing discrete time points The maximum value, To be based on discrete time points The first collision distance is recalculated.

6. The AEB request deceleration calculation method according to claim 1, characterized in that, The first motion parameter includes the first lateral velocity. First longitudinal velocity First lateral acceleration and first longitudinal acceleration ; The second motion parameter includes the second lateral velocity. Second longitudinal velocity ; The step of determining whether the driving vehicle and the target vehicle pose a collision risk based on the first motion parameter and the second motion parameter includes: According to the first lateral velocity and the first lateral acceleration Calculate the driving vehicle in The first lateral distance traveled within a time period According to the first longitudinal velocity and the first longitudinal acceleration Calculate the driving vehicle in The first longitudinal distance traveled within a time period ; According to the second lateral velocity Calculate the target vehicle in the The second lateral distance traveled within a time period According to the second longitudinal velocity Calculate the target vehicle's travel at Second longitudinal distance within time Based on the first lateral distance Second lateral distance Calculate the lateral relative distance between the driving vehicle and the target vehicle. According to the first longitudinal distance Second longitudinal distance Calculate the longitudinal relative distance between the driving vehicle and the target vehicle. ; According to the lateral relative distance and the longitudinal relative distance Determine whether there is a risk of collision between the driving vehicle and the target vehicle.

7. The AEB request deceleration calculation method according to claim 6, characterized in that, The basis of the lateral relative distance and the longitudinal relative distance Determining whether there is a risk of collision between the driving vehicle and the target vehicle includes: According to the lateral relative distance Determine whether the driving vehicle overlaps with the target vehicle, thereby determining whether there is a risk of lateral collision between the driving vehicle and the target vehicle; According to the longitudinal relative distance With the first width value of the driving vehicle and the second width value of the target vehicle The sums are compared to determine whether the driving vehicle and the target vehicle pose a longitudinal collision risk. If the driving vehicle has a lateral collision risk and a longitudinal collision risk with the target vehicle, then it is determined that the driving vehicle has a collision risk with the target vehicle.

8. The AEB request deceleration calculation method according to claim 1, characterized in that, The sensor is a camera and / or millimeter-wave radar.

9. An electronic device, characterized in that, The electronic device includes: A processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the AEB request deceleration calculation method as described in any one of claims 1 to 8.

10. A storage medium, characterized in that, The storage medium stores a program or instructions that, when executed by a processor, implement the steps of the AEB request deceleration calculation method as described in any one of claims 1 to 8.

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