Method, device, equipment and medium for inhibiting false start after automatic emergency braking

Abstract

A method, device, equipment and medium for inhibiting misstart after automatic emergency braking, the method comprising: recording a reference state quantity of a target obstacle at the time of stopping when an automatic emergency braking event is detected and the vehicle is completely stopped; obtaining a real-time state quantity of the target obstacle during the vehicle remaining in the stopped state; performing target motion detection according to the reference state quantity and the real-time state quantity, and performing perception distance anomaly detection according to the real-time state quantity; if the perception distance anomaly detection determines that there is a perception distance anomaly, and the target motion detection determines that the target obstacle does not move, using the reference state quantity to replace the real-time state quantity at the current time as input information for vehicle restart judgment, and inhibiting the automatic start instruction of the vehicle. The application can effectively identify the perception drift caused by vehicle vibration, avoid misjudging the perception drift as a safety signal, and significantly reduce the misstart risk.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, specifically to a method, device, equipment, and medium for suppressing false starts after automatic emergency braking. Background Technology

[0002] With the rapid development of intelligent driving technology, Level 2 autonomous driving systems have been widely applied in various passenger and commercial vehicles. AEB (Automatic Emergency Braking), as a core function of active safety, can control the vehicle to decelerate urgently until it comes to a complete stop when a collision risk is detected, effectively avoiding or mitigating collisions. After AEB is triggered and the vehicle comes to a complete stop, the system needs to continuously monitor the surrounding environment to determine whether the conditions for a safe restart are met. How to achieve a reasonable restart of the vehicle after emergency braking while ensuring absolute safety is a crucial requirement that urgently needs to be addressed in the field of autonomous driving safety control.

[0003] In existing technologies, during the restart decision-making process after AEB (Autonomous Emergency Braking) is triggered and the vehicle comes to a stop, the system typically relies on real-time environmental data collected by perception sensors (such as cameras and millimeter-wave radar). The specific decision-making logic generally involves the system continuously acquiring status data such as the position, distance, and speed of obstacles at the current moment. If it detects that the obstacle has been removed or the safe distance between the obstacle and the vehicle has returned to above a threshold, it determines that the environment is safe and allows the vehicle to automatically restart or release the brake hold. Some solutions also incorporate a fixed waiting time or driver confirmation commands to assist in the decision-making process.

[0004] However, existing methods for determining safety upon restarting primarily rely on real-time perception data, lacking a mechanism to verify the reliability of this data. In real-world scenarios, when a vehicle undergoes AEB emergency braking and comes to a complete stop, the severe compression of the vehicle's suspension system, the instantaneous change in vehicle posture, and the vibration of the sensors themselves often cause sensor drift. The system can easily misinterpret this vibration-induced sensor drift as an obstacle having moved or a safe distance having been restored, thus incorrectly issuing an automatic restart command while a collision risk still exists, posing a significant safety hazard. Particularly when lateral sensor drift occurs, the system incorrectly determines the lane where the target obstacle is located, leading to a substantial collision risk after the vehicle restarts. Summary of the Invention

[0005] This application provides a method, apparatus, device, and medium for suppressing false start after automatic emergency braking, which can solve the technical problem in the prior art where perception drift is prone to misidentification during the restart judgment process after emergency braking, resulting in the erroneous issuance of automatic start command when there is still a risk of collision.

[0006] In a first aspect, embodiments of this application provide a method for suppressing false starts after automatic emergency braking, including: When an automatic emergency braking event is detected and the vehicle comes to a complete stop, the reference state quantity of the target obstacle at the moment of stopping is recorded. While the vehicle remains stationary, acquire the real-time state of the target obstacle; Target motion detection is performed based on reference state variables and real-time state variables, and anomaly detection of sensing distance is performed based on real-time state variables. If the perception distance anomaly detection determines that there is an anomaly in the perception distance, and the target motion detection determines that the target obstacle has not moved, then the reference state quantity is used to replace the real-time state quantity at the current moment as the input information for the vehicle restart judgment, and the automatic start command of the vehicle is suppressed.

[0007] In conjunction with the first aspect, in one implementation, target motion detection is performed based on a reference state variable and a real-time state variable, including: Based on the longitudinal distance reference value and longitudinal velocity reference value in the reference state variables, and the real-time longitudinal distance and real-time longitudinal velocity in the real-time state variables, determine the longitudinal distance change and longitudinal velocity change. If the change in longitudinal distance is greater than the preset motion distance detection threshold and the change in longitudinal velocity is greater than the preset motion velocity detection threshold, then the target obstacle is determined to be moving. Otherwise, it is determined that the target obstacle has not moved.

[0008] In conjunction with the first aspect, in one implementation, anomaly detection of sensing distance based on real-time state quantities includes: The real-time sensing distance is determined based on the vehicle width, the real-time lateral coordinates in the real-time status data, and the real-time detection width of the target obstacle. If the real-time sensing distance is greater than the preset safety gap threshold, it is determined that there is an abnormal sensing distance. Otherwise, it is determined that there is no abnormality in the perceived distance.

[0009] In conjunction with the first aspect, in one embodiment, the method for suppressing false starts after automatic emergency braking further includes: If the target motion detection determines that the target obstacle is moving, then the vehicle restart decision is made based on the real-time status of the target obstacle.

[0010] In conjunction with the first aspect, in one embodiment, the method for suppressing false starts after automatic emergency braking further includes: If the target motion detection determines that the target obstacle has not moved, and the sensing distance anomaly detection determines that there is no sensing distance anomaly, then the vehicle remains in a stopped state.

[0011] In conjunction with the first aspect, in one embodiment, the method for suppressing false starts after automatic emergency braking further includes: During the suppression of the vehicle's automatic start command, the judgment results of target motion detection and perception distance anomaly detection are continuously monitored; If the judgment results of target motion detection and perception distance anomaly detection no longer simultaneously satisfy the conditions of perception distance anomaly and target obstacle not moving, then the real-time state quantity will be used again as the input information for vehicle restart judgment, and the automatic start command of the vehicle will be stopped.

[0012] In conjunction with the first aspect, in one implementation, the reference state quantities include at least the lateral coordinate reference value, longitudinal distance reference value, and detection width reference value of the target obstacle at the moment of braking.

[0013] Secondly, embodiments of this application provide a device for suppressing false starts after automatic emergency braking, comprising: The status recording module is used to record the reference state of the target obstacle at the moment of braking when an automatic emergency braking event is detected and the vehicle comes to a complete stop. The information acquisition module is used to acquire the real-time status of the target obstacle while the vehicle remains stationary. The monitoring and processing module is used to detect target motion based on reference state quantities and real-time state quantities, and to detect abnormal sensing distance based on real-time state quantities. The execution control module is used to replace the real-time state quantity at the current moment with the reference state quantity as the input information for vehicle restart judgment if the perception distance anomaly detection determines that there is an anomaly in the perception distance and the target motion detection determines that the target obstacle has not moved, and suppresses the automatic start command of the vehicle.

[0014] Thirdly, embodiments of this application provide a device for suppressing false starts after automatic emergency braking. The device includes a processor, a memory, and a program for suppressing false starts after automatic emergency braking stored in the memory and executable by the processor. When the program for suppressing false starts after automatic emergency braking is executed by the processor, it implements the steps of the method for suppressing false starts after automatic emergency braking as described above.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a false start suppression program after automatic emergency braking, wherein when the false start suppression program after automatic emergency braking is executed by a processor, it implements the steps of the false start suppression method after automatic emergency braking described above.

[0016] The beneficial effects of the technical solutions provided in this application include: This application establishes a reference state quantity benchmark at the moment of braking and compares it with the real-time state quantity, which can effectively identify perception drift caused by vehicle vibration. When an abnormal perception distance is detected and the target is not moving, the reference state quantity is used to replace the real-time state quantity and automatic start is suppressed, avoiding misjudging perception drift as a safety signal and significantly reducing the risk of false start. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating an embodiment of the method for suppressing false starts after automatic emergency braking according to this application; Figure 2 This is a schematic diagram of the target motion detection process according to an embodiment of this application; Figure 3 This is a schematic diagram of the sensing distance anomaly detection process according to an embodiment of this application; Figure 4 This is a schematic diagram of the functional modules of an embodiment of the automatic emergency braking false start suppression device of this application; Figure 5 This is a schematic diagram of the hardware structure of the device for suppressing false starts after automatic emergency braking involved in the embodiments of this application. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0020] In a first aspect, embodiments of this application provide a method for suppressing false starts after automatic emergency braking.

[0021] In one embodiment, reference is made to Figure 1 , Figure 1 This is a schematic flowchart of an embodiment of the method for suppressing accidental start-up after automatic emergency braking according to this application. Figure 1 As shown, the methods for suppressing false starts after automatic emergency braking include: S101. When an automatic emergency braking event is detected and the vehicle comes to a complete stop, record the reference state quantity of the target obstacle at the moment of stopping. S102. While the vehicle remains stationary, acquire the real-time status of the target obstacle; S103. Detect target motion based on reference state variables and real-time state variables, and detect abnormal sensing distance based on real-time state variables. S104. If the perception distance anomaly detection determines that there is an anomaly in the perception distance, and the target motion detection determines that the target obstacle has not moved, then the reference state quantity is used to replace the real-time state quantity at the current moment as the input information for the vehicle restart judgment, and the automatic start command of the vehicle is suppressed.

[0022] Specifically, in the embodiments, the method for suppressing false starts after automatic emergency braking is applied to the vehicle restart determination process after the automatic emergency braking is triggered by the intelligent driving vehicle.

[0023] When the intelligent driving vehicle comes to a complete stop by automatic emergency braking, the embodiment first records the physical state quantities of the target obstacle, such as the lateral coordinates, detection width, longitudinal distance, and longitudinal velocity, as reference state quantities of the target obstacle.

[0024] It should be noted that in this embodiment, the coordinate system takes the center of the front bumper of the vehicle as the origin, with the forward direction being the positive direction of the longitudinal coordinate axis, represented by the X-axis, and the left direction being the positive direction of the lateral coordinate axis, represented by the Y-axis.

[0025] During the braking process, the embodiment acquires various physical state parameters of the target obstacle in real time to identify whether the obstacle has moved away, and then determines whether the autonomous driving vehicle can restart. Simultaneously, to avoid misjudgments of the target obstacle due to sensor drift, the embodiment performs target motion detection and abnormal sensing distance detection.

[0026] Specifically, target motion detection calculates the changes in longitudinal distance and longitudinal velocity based on the longitudinal distance and longitudinal velocity reference values ​​in the reference state variables, and the real-time longitudinal distance and real-time longitudinal velocity in the real-time state variables. In this embodiment, when both the changes in longitudinal distance and longitudinal velocity are greater than the corresponding set thresholds, it is determined that the target obstacle has moved; otherwise, it is determined that the target obstacle has not moved.

[0027] The detection of abnormal sensing distance first determines the real-time sensing distance based on the vehicle's width, the real-time lateral coordinates in the real-time state data, and the detected width of the target obstacle. Then, if the sensing distance is greater than a preset safety gap threshold, it is determined that there is an abnormal sensing distance; otherwise, it is determined that there is no abnormal sensing distance.

[0028] Then, during the vehicle restart judgment process, based on the target motion detection and sensing distance anomaly detection results, when movement of the target obstacle is detected, the normal vehicle restart judgment logic is performed regardless of the sensing distance anomaly detection result. When no movement of the target obstacle is detected, but a sensing distance anomaly is determined, it is considered that sensor perception drift has occurred. In this case, to avoid the risk of false vehicle restart, the embodiment replaces the current real-time state quantity with the reference state quantity as the input information for vehicle restart judgment and suppresses the automatic vehicle start command until the conditions of no longer simultaneously being met (target obstacle not moving and sensing distance anomaly), then the real-time state quantity is used again as the input information for vehicle restart judgment, and the automatic vehicle start command is stopped. In addition, if neither target movement nor distance anomaly is detected, it is considered that the target position is reliable and the environment has not changed, and the vehicle continues to remain in a stopped state.

[0029] Finally, after the vehicle restarts or receives a manual intervention command, the state detection and judgment logic related to erroneous start suppression ends.

[0030] In this embodiment, by establishing a reference state quantity benchmark at the moment of braking and comparing it with the real-time state quantity, the perception drift caused by vehicle vibration can be effectively identified. When an abnormal perception distance is detected and the target is not moving, the reference state quantity is used to replace the real-time state quantity and automatic start is suppressed, avoiding misjudging perception drift as a safety signal and significantly reducing the risk of false start.

[0031] Furthermore, in one embodiment, the reference state quantity includes at least the lateral coordinate reference value, longitudinal distance reference value, and detection width reference value of the target obstacle at the moment of braking.

[0032] Specifically, considering the potential perception drift during emergency braking, the embodiment records the moment when an emergency braking event is detected and the vehicle comes to a complete stop as the target state freeze moment. It stores the various physical state quantities of the target obstacle at that moment as reference state quantities. In this embodiment, the reference state quantities include the lateral coordinate reference value of the target obstacle with the center of the front bumper of the vehicle as the origin of the coordinate system. Longitudinal distance reference value Longitudinal velocity reference value and detection width reference value .

[0033] In this embodiment, the various physical state quantities at the moment of braking are used as reliable reference state quantities, providing effective reference information for subsequent judgment on whether the sensor has experienced sensing drift.

[0034] Furthermore, in one embodiment, Figure 2This is a schematic diagram of the target motion detection process according to an embodiment of this application, as shown below. Figure 2 As shown, target motion detection is performed based on reference state variables and real-time state variables, including: S201. Based on the longitudinal distance reference value and longitudinal velocity reference value in the reference state variables, and the real-time longitudinal distance and real-time longitudinal velocity in the real-time state variables, determine the longitudinal distance change and longitudinal velocity change. S202. If the change in longitudinal distance is greater than the preset motion distance detection threshold and the change in longitudinal speed is greater than the preset motion speed detection threshold, then it is determined that the target obstacle has moved. S203. Otherwise, it is determined that the target obstacle has not moved.

[0035] Specifically, at any moment after the vehicle comes to a complete stop, the system needs to continuously perform target motion detection and distance anomaly detection.

[0036] In target motion detection, the embodiment calculates the current moment relative to the reference state quantity and the real-time state quantity. Changes in longitudinal distance and longitudinal velocity at time t:

[0037]

[0038] in, This indicates the change in longitudinal distance. This represents the change in longitudinal velocity. Represents the real-time horizontal coordinate. This indicates the real-time longitudinal velocity.

[0039] When the longitudinal distance changes ( The threshold for motion distance detection is set to a value ranging from 0.1 to 0.5 meters. ( If the threshold for motion speed detection is set to 1–3 m / s, then the target obstacle is determined to be moving.

[0040] It should be noted that the above motion distance detection threshold and motion speed detection threshold can be dynamically adjusted according to actual road conditions to meet safety requirements in different driving scenarios.

[0041] Furthermore, the dual judgment conditions of longitudinal distance change and real-time longitudinal speed in the embodiment are to ensure the reliability of target motion detection. That is, the target obstacle is judged to be moving only after it has actually moved, rather than being a misjudgment due to perception drift.

[0042] Furthermore, in one embodiment, Figure 3This is a schematic diagram of the sensing distance anomaly detection process according to an embodiment of this application, as shown below. Figure 3 As shown, anomaly detection of sensing distance is performed based on real-time state variables, including: S301. Determine the real-time sensing distance based on the vehicle width, the real-time lateral coordinates in the real-time status data, and the real-time detection width of the target obstacle. S303. If the real-time sensing distance is greater than the preset safety gap threshold, it is determined that there is an abnormal sensing distance. S303. Otherwise, it is determined that there is no abnormality in the perceived distance.

[0043] Specifically, in the detection of anomalies in sensing distance, the embodiment calculates the real-time sensing distance at the current moment based on real-time state variables:

[0044] in, This indicates real-time distance sensing. Indicates the width of the vehicle. Represents the real-time horizontal coordinate. This indicates the real-time detection width of the target obstacle.

[0045] When real-time distance sensing ( If the real-time sensing distance is greater than the safety gap threshold, it is considered an abnormality. That is, after the vehicle brakes suddenly in a situation with a collision risk, but the sensor results show that there is no collision risk (the real-time sensing distance is greater than the safety gap threshold), there is an anomaly.

[0046] Furthermore, in one embodiment, the false start suppression method further includes: If the target motion detection determines that the target obstacle is moving, then the vehicle restart decision is made based on the real-time status of the target obstacle.

[0047] Furthermore, in one embodiment, the false start suppression method further includes: If the target motion detection determines that the target obstacle has not moved, and the sensing distance anomaly detection determines that there is no sensing distance anomaly, then the vehicle remains in a stopped state.

[0048] Furthermore, in one embodiment, the false start suppression method further includes: During the suppression of the vehicle's automatic start command, the judgment results of target motion detection and perception distance anomaly detection are continuously monitored; If the judgment results of target motion detection and perception distance anomaly detection no longer simultaneously satisfy the conditions of perception distance anomaly and target obstacle not moving, then the real-time state quantity will be used again as the input information for vehicle restart judgment, and the automatic start command of the vehicle will be stopped.

[0049] Specifically, based on the target motion detection judgment result and the perceived distance anomaly detection judgment result, the embodiment can implement the following processing strategies respectively: Strategy 1: When a target obstacle is detected to be moving, the normal restart judgment logic of the vehicle will be initiated regardless of the result of the abnormal distance detection.

[0050] Strategy 2: If neither the target obstacle nor the sensing distance is detected to be abnormal, then the target position perceived by the sensor is considered reliable and the environment has not changed, so the vehicle should remain in a stopped state.

[0051] Strategy 3: When no movement of the target obstacle is detected, but an abnormal perception distance is detected, it is considered that lateral perception drift has occurred. At this point, the stored reference state value is immediately used to replace the real-time state value acquired by the sensor as input information for vehicle restart judgment, and the automatic vehicle start command is suppressed. For a vehicle that has undergone emergency braking, after combining the reference state value at the moment of braking with the current real-time state value, the conclusion is that the target obstacle has not moved. However, the perception distance judgment based on the real-time state value determines that the lateral distance between the target obstacle and the vehicle meets the safe clearance threshold, initially satisfying the vehicle's restart judgment logic. That is, even when it is determined that neither the vehicle nor the target obstacle has moved, the sensor data perceives a change in lateral distance, therefore, it is considered that the sensor has experienced perception drift, requiring false start suppression, including data correction and suppression of any automatic vehicle start command.

[0052] In this embodiment, after the false start suppression logic takes effect, the embodiment continues to monitor the judgment results of target motion detection and perception distance anomaly detection. If the judgment result no longer meets the triggering conditions of Strategy 3, i.e., false start suppression, then the real-time state quantity is used again as the input information for vehicle restart judgment, and the suppression of the vehicle's automatic start command is stopped. At this time, it may be that the sensor has automatically reset or performed automatic correction, the perception drift has disappeared, or the target obstacle has indeed moved, requiring exit from false start suppression and continued execution of normal judgment logic.

[0053] In addition, if a manual intervention command is detected during the false start suppression period in the embodiment, the automatic start command of the vehicle will also be stopped. However, at this time, it is necessary to indicate that there is perception drift in order to avoid the driver mistakenly accepting the sensor data that has perception drift.

[0054] In this embodiment, historical reference state quantities are used as reliable baseline data, which can effectively distinguish between real motion and perceived drift, avoiding misjudgment. When perceived drift is detected, the reference state quantity is used to replace the real-time state quantity and automatic activation is suppressed, avoiding misjudging perceived drift as a safety signal and significantly reducing the risk of false activation; when the target does move, the normal judgment logic can be activated in time to ensure the timely response of the system.

[0055] In addition, to further illustrate this solution, the following examples illustrate both stationary targets crossing the lane line in adjacent lanes and targets that are actually moving.

[0056] In the example of a stationary target vehicle in an adjacent lane crossing the left boundary line of its own lane, the scenario is as follows: A heavy truck is traveling on a straight road, and a stationary car in the adjacent lane ahead has its right wheel crossing the left boundary line of its own lane, triggering automatic emergency braking. After the vehicle stops, due to camera shake, the perceived value of the target vehicle drifts outward (away from its own center line).

[0057] Coordinate system and parameter settings: The origin is the center of the vehicle's front bumper, with the positive Y-axis pointing left and the positive X-axis pointing forward. Vehicle width. Target vehicle width Safety gap threshold Movement distance detection threshold Motion speed detection threshold .

[0058] Execution process: In At the moment (when braking to a complete stop), the right wheel of the target vehicle is on the left boundary line of this lane, and the lateral coordinate of the center of the target vehicle is... (Negative values ​​indicate the target vehicle is on its right side), longitudinal distance. Store the current state value as a basis for subsequent judgments:

[0059]

[0060]

[0061]

[0062] During the braking process At the moment of startup (when perception drift occurs), due to camera jitter, the perception system incorrectly reports the lateral coordinates of the target vehicle's center as... (That is, it drifted outward by 0.2m, and the absolute value changed from 2.55 to 2.75), and the target vehicle's width was misjudged as... (Becomes smaller), longitudinal distance of the target vehicle (Assuming the actual target does not move), the longitudinal speed of the target vehicle. (Assuming the actual target has not moved).

[0063] In state detection and judgment, for target motion detection:

[0064]

[0065] Compare with a threshold. , No target motion was detected.

[0066] For detecting anomalies in perceived distance:

[0067]

[0068] Compare with a threshold. There is an anomaly in the perceived distance.

[0069] At this point, it is determined that the target obstacle has not actually moved, but there is an abnormal sensing distance. It is determined that the target has undergone dangerous outward lateral drift, and a reference state quantity is used for correction, replacing the current sensing data. replace ,use replace And corresponding replacements for other values. And continuously suppress any auto-start commands.

[0070] Strategy execution result: The outward drift caused by camera shake (drifting from -2.55 meters to -2.75 meters) was successfully detected. The system was corrected by using historical reliable data, thus avoiding a fatal false start triggered by the system misjudging that "the target has moved away".

[0071] In scenarios where the target does indeed move, during the braking process, At any given moment (when the target has indeed moved forward), the lateral coordinate of the target vehicle's center. (Slight changes, normal noise), target vehicle width (Normal perceived noise), longitudinal distance of the target vehicle (The target did indeed move forward 1.5 meters), the longitudinal speed of the target vehicle. .

[0072] In state detection and judgment, for target motion detection:

[0073]

[0074] Compare with a threshold. , The target motion was detected.

[0075] For detecting anomalies in perceived distance:

[0076]

[0077] Compare with a threshold. There is no abnormality in perceived distance.

[0078] At this point, it is determined that the target obstacle has indeed moved, and the normal judgment logic is initiated.

[0079] Strategy execution result: The system detected that the target had indeed moved, and based on the current perception data, it determined whether it was safe to start and responded in a timely manner.

[0080] In summary, in this embodiment, by establishing a reference state quantity benchmark at the moment of braking and comparing it with the real-time state quantity, perception drift caused by vehicle vibration can be effectively identified. When an abnormal perception distance is detected and the target is not moving, the reference state quantity is used to replace the real-time state quantity and automatic start is suppressed, avoiding misjudging perception drift as a safety signal and significantly reducing the risk of false start.

[0081] Secondly, embodiments of this application also provide a device for suppressing accidental start-up after automatic emergency braking.

[0082] In one embodiment, reference is made to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the automatic emergency braking false start suppression device of this application. Figure 4 As shown, the device for preventing accidental activation after automatic emergency braking includes: The status recording module 401 is used to record the reference status quantity of the target obstacle at the moment of braking when an automatic emergency braking event is detected and the vehicle comes to a complete stop. The information acquisition module 402 is used to acquire the real-time status of the target obstacle while the vehicle is in a stopped state. The monitoring and processing module 403 is used to perform target motion detection based on reference state quantities and real-time state quantities, and to perform sensing distance anomaly detection based on real-time state quantities. The execution control module 404 is used to replace the real-time state quantity at the current moment with the reference state quantity as the input information for vehicle restart judgment if the perception distance anomaly detection determines that there is an anomaly in the perception distance and the target motion detection determines that the target obstacle has not moved, and suppresses the automatic start command of the vehicle.

[0083] The functions of each module in the above-mentioned automatic emergency braking false start suppression device correspond to the steps in the above-mentioned automatic emergency braking false start suppression method embodiment, and their functions and implementation processes will not be described in detail here.

[0084] Thirdly, embodiments of this application provide a device for suppressing false starts after automatic emergency braking. The device for suppressing false starts after automatic emergency braking can be a device with data processing functions, such as an on-board ECU.

[0085] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of the automatic emergency braking post-accidental start suppression device involved in the embodiments of this application. In the embodiments of this application, the automatic emergency braking post-accidental start suppression device may include a processor, a memory, a communication interface, and a communication bus.

[0086] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0087] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal components of the automatic emergency braking false start suppression device, as well as interfaces used for interconnecting the automatic emergency braking false start suppression device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0088] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0089] The processor can be a general-purpose processor, which can call the automatic emergency braking false start suppression program stored in memory and execute the automatic emergency braking false start suppression method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the automatic emergency braking false start suppression program is called can refer to the various embodiments of the automatic emergency braking false start suppression method of this application, and will not be repeated here.

[0090] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0091] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0092] The present application has a computer-readable storage medium storing a false start suppression program after automatic emergency braking, wherein when the false start suppression program after automatic emergency braking is executed by a processor, it implements the steps of the false start suppression method after automatic emergency braking as described above.

[0093] The method implemented when the false start suppression procedure after automatic emergency braking is executed can be referred to in various embodiments of the false start suppression method after automatic emergency braking of this application, and will not be repeated here.

[0094] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0095] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0096] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0097] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0098] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods of the various embodiments of this application.

[0100] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for suppressing false starts after automatic emergency braking, characterized in that, include: When an automatic emergency braking event is detected and the vehicle comes to a complete stop, the reference state quantity of the target obstacle at the moment of stopping is recorded. While the vehicle remains stationary, acquire the real-time state of the target obstacle; Target motion detection is performed based on the reference state quantity and the real-time state quantity, and abnormal sensing distance detection is performed based on the real-time state quantity. If the perception distance anomaly detection determines that there is an anomaly in the perception distance, and the target motion detection determines that the target obstacle has not moved, then the reference state quantity is used to replace the real-time state quantity at the current moment as the input information for the vehicle restart judgment, and the automatic start command of the vehicle is suppressed.

2. The method for suppressing false starts after automatic emergency braking according to claim 1, characterized in that, The step of detecting target motion based on the reference state quantity and the real-time state quantity includes: Based on the longitudinal distance reference value and longitudinal velocity reference value in the reference state variables, and the real-time longitudinal distance and real-time longitudinal velocity in the real-time state variables, determine the longitudinal distance change and longitudinal velocity change. If the change in longitudinal distance is greater than a preset motion distance detection threshold, and the change in longitudinal speed is greater than a preset motion speed detection threshold, then it is determined that the target obstacle is moving. Otherwise, it is determined that the target obstacle has not moved.

3. The method for suppressing false starts after automatic emergency braking according to claim 1, characterized in that, The step of detecting anomalies in sensing distance based on the real-time state quantity includes: The real-time sensing distance is determined based on the vehicle width, the real-time lateral coordinates in the real-time status data, and the real-time detection width of the target obstacle. If the real-time sensing distance is greater than the preset safety gap threshold, it is determined that there is an abnormal sensing distance. Otherwise, it is determined that there is no abnormality in the perceived distance.

4. The method for suppressing false starts after automatic emergency braking according to claim 1, characterized in that, The method further includes: If the target motion detection determines that the target obstacle is moving, then a vehicle restart decision is made based on the real-time state of the target obstacle.

5. The method for suppressing false starts after automatic emergency braking according to claim 1, characterized in that, The method further includes: If the target motion detection determines that the target obstacle has not moved, and the perception distance anomaly detection determines that there is no perception distance anomaly, then the vehicle remains in a stopped state.

6. The method for suppressing false starts after automatic emergency braking according to claim 1, characterized in that, The method further includes: During the suppression of the vehicle's automatic start command, the determination results of the target motion detection and the abnormal sensing distance detection are continuously monitored; If the determination results of the target motion detection and the perception distance anomaly detection no longer simultaneously satisfy the conditions of perception distance anomaly and target obstacle not moving, then the real-time state quantity is used again as the input information for vehicle restart determination, and the automatic start command of the vehicle is stopped.

7. The method for suppressing false starts after automatic emergency braking according to claim 1, characterized in that, The reference state quantities include at least the lateral coordinate reference value, longitudinal distance reference value, and detection width reference value of the target obstacle at the moment of braking.

8. A device for suppressing accidental restart after automatic emergency braking, characterized in that, include: The status recording module is used to record the reference state of the target obstacle at the moment of braking when an automatic emergency braking event is detected and the vehicle comes to a complete stop. The information acquisition module is used to acquire the real-time status of the target obstacle while the vehicle remains stationary. The monitoring and processing module is used to perform target motion detection based on the reference state quantity and the real-time state quantity, and to perform sensing distance anomaly detection based on the real-time state quantity; The execution control module is used to replace the real-time state quantity at the current moment with the reference state quantity as the input information for vehicle restart judgment if the perception distance anomaly detection determines that there is an anomaly in the perception distance and the target motion detection determines that the target obstacle has not moved, and suppresses the automatic start command of the vehicle.

9. A device for suppressing accidental restart after automatic emergency braking, characterized in that, The automatic emergency braking false start suppression device includes a processor, a memory, and an automatic emergency braking false start suppression program stored in the memory and executable by the processor, wherein when the automatic emergency braking false start suppression program is executed by the processor, it implements the steps of the automatic emergency braking false start suppression method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a false start suppression program after automatic emergency braking, wherein when the false start suppression program after automatic emergency braking is executed by a processor, it implements the steps of the false start suppression method after automatic emergency braking as described in any one of claims 1 to 7.

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