CN113997911A - A kind of automatic emergency braking control method and device - Google Patents
A kind of automatic emergency braking control method and device Download PDFInfo
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- CN113997911A CN113997911A CN202111319666.XA CN202111319666A CN113997911A CN 113997911 A CN113997911 A CN 113997911A CN 202111319666 A CN202111319666 A CN 202111319666A CN 113997911 A CN113997911 A CN 113997911A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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Abstract
本发明公开了一种自动紧急制动控制方法及装置，涉及车辆制动控制领域，该方法包括基于车辆AEB系统，对车辆前方是否存在碰撞风险进行判断；待车辆前方存在碰撞风险，AEB系统确定碰撞风险等级；根据确定的碰撞风险等级，确定制动减速度类型；基于确定的制动减速度类型，车辆ESC制动系统执行制动。所述制动减速度类型包括部分紧急制动和全力制动。所述部分紧急制动的减速度小于第一预设减速度；所述全力制动的减速度大于第二预设减速度，小于第三预设减速度。本发明能够实现AEB系统更高的速度降，从而给用户带来更大的收益。
The invention discloses an automatic emergency braking control method and device, and relates to the field of vehicle braking control. The method includes judging whether there is a collision risk in front of the vehicle based on the vehicle AEB system; when there is a collision risk in front of the vehicle, the AEB system determines Collision risk level; according to the determined collision risk level, determine the type of braking deceleration; based on the determined type of braking deceleration, the vehicle ESC braking system performs braking. The braking deceleration types include partial emergency braking and full braking. The deceleration of the partial emergency braking is smaller than the first preset deceleration; the deceleration of the full braking is greater than the second preset deceleration and smaller than the third preset deceleration. The present invention can realize a higher speed drop of the AEB system, thereby bringing greater benefits to users.
Description
Technical Field
The invention relates to the field of vehicle brake control, in particular to an automatic emergency brake control method and device.
Background
An automatic emergency braking system, called AEB system for short, is used for avoiding or reducing collision risk by controlling the automatic deceleration of the braking system when the collision risk exists between a vehicle and a front target. The automatic emergency braking can effectively reduce the collision risk between the self vehicle and the front vehicle, but if a following target exists behind the self vehicle, the collision risk of rear-end collision of the rear vehicle can be increased by the emergency braking of the self vehicle. And the larger the speed drop of the self vehicle caused by emergency braking is, the higher the damage degree of the rear-end collision risk is.
According to the general functional Safety analysis of the automatic emergency braking system in the current automobile industry, the Level of the danger possibility of rear-end collision caused by unexpected automatic emergency braking of the automobile is E3, the controllability Level is C3, the severity Level S is related to the speed of the automobile in a collision, and specifically, according to the definition analysis of the functional Safety to ASIL (automatic Safety integrity Level) Level in the ISO 26262 standard: when the speed drop is less than 20kph during automatic emergency braking of the vehicle, the severity level is S1; when the speed drop is less than or equal to 40kph and is greater than 20kph during automatic emergency braking of the vehicle, the severity level is S2; when the vehicle is automatically braked suddenly with a speed drop of more than 40kph, the severity level is S3. That is, when the automatic emergency braking speed drops below 40kph, the severity is S2 and the functional safety level is ASIL B, and when the automatic emergency braking speed drops above 40kph, the severity rises to S3 and the functional safety level is ASIL C.
Currently, limited by factors such as hardware, software and development cost of an AEB control system, the functional safety level definition of the AEB system is generally in ASIL B, so that an ESC (Electronic Stability Controller) braking system of a whole vehicle limits the braking speed drop of the AEB system to be within 40kph, and if a higher speed drop is to be achieved, the hardware and software requirements of the control system of the AEB system need to be over ASIL C, which is also the reason that the AEB system of most manufacturers can only achieve 45kph (wherein 5kph is a design redundancy value) speed drop at present.
Therefore, how to implement a higher speed reduction of the AEB system based on the hardware and software of the existing ASIL B to bring greater benefits to users is a problem that needs to be solved at present.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic emergency braking control method and device, which can realize higher speed reduction of an AEB system, thereby bringing greater benefits to users.
In order to achieve the above purpose, the automatic emergency braking control method provided by the invention specifically comprises the following steps:
judging whether the front of the vehicle has a collision risk or not based on an AEB system of the vehicle;
when collision risks exist in front of the vehicle, determining the collision risk level by the AEB system;
determining the type of braking deceleration according to the determined collision risk level;
the vehicle ESC braking system performs braking based on the determined braking deceleration type.
On the basis of the technical scheme, the braking deceleration type comprises partial emergency braking and full-force braking.
On the basis of the technical proposal, the device comprises a shell,
the deceleration of the partial emergency braking is smaller than a first preset deceleration;
the deceleration of the full-force brake is larger than the second preset deceleration and smaller than the third preset deceleration.
On the basis of the technical proposal, the device comprises a shell,
the collision risk level is determined based on the TTC of the time of collision and the current speed of the vehicle;
the collision risk classes include a low collision risk class and a high collision risk class.
On the basis of the above technical solution, the determining a braking deceleration type according to the determined collision risk level specifically includes:
when the determined collision risk level is a low collision risk level, the determined braking deceleration type is partial emergency braking;
when the determined collision risk level is a high collision risk level, the determined type of braking deceleration is full force braking.
On the basis of the above technical solution, the determining a braking deceleration type according to the determined collision risk level specifically includes:
judging whether the vehicle is in a high-speed running state or not based on the current speed of the vehicle:
if the vehicle is in a high-speed running state, determining that the type of braking deceleration is partial emergency braking;
and if the vehicle is not in a high-speed running state, determining that the braking deceleration type is partial emergency braking when the collision risk level is a low collision risk level, and determining that the braking deceleration type is full-force braking when the collision risk level is a high collision risk level.
On the basis of the technical scheme, the ESC braking system of the vehicle executes braking based on the determined braking deceleration type, and comprises the following specific steps:
the vehicle AEB system sends a braking deceleration request to the ESC braking system according to the determined braking deceleration type;
the ESC braking system receives the braking deceleration request and performs vehicle braking control according to the deceleration value corresponding to the braking deceleration type in the braking deceleration request.
On the basis of the above technical solution, the performing of the vehicle braking control according to the deceleration value corresponding to the braking deceleration type in the braking deceleration request specifically includes:
when the deceleration value in the braking deceleration request is less than the set value, the ESC braking system limits the maximum speed drop of the vehicle to be within 60 kph;
when the deceleration value in the braking deceleration request is greater than the set value, the ESC braking system limits the vehicle's maximum speed drop to within 45 kph.
The invention provides an automatic emergency braking control device, comprising:
the judging module is used for driving the AEB system to judge whether the collision risk exists in front of the vehicle or not based on the AEB system of the vehicle;
the first determining module is used for driving the AEB system to determine the collision risk level when the AEB system judges that the collision risk exists in front of the vehicle;
a second determination module for determining a braking deceleration type based on the determined impact risk level of the AEB system;
and an actuation module for actuating the vehicle ESC brake system to apply braking based on the determined type of braking deceleration.
On the basis of the technical proposal, the device comprises a shell,
the brake deceleration type comprises partial emergency braking and full force braking;
the deceleration of the partial emergency braking is smaller than a first preset deceleration;
the deceleration of the full-force brake is larger than the second preset deceleration and smaller than the third preset deceleration.
Compared with the prior art, the invention has the advantages that: whether the collision risk exists in front of the vehicle is judged through the vehicle AEB system, when the collision risk exists in front of the vehicle, the AEB system determines the collision risk level, then the braking deceleration type is determined according to the determined collision risk level, finally, the vehicle ESC braking system executes braking based on the determined braking deceleration type, different deceleration sizes are adopted for different braking deceleration types to limit the range of the maximum speed drop of the AEB system, and on the basis of hardware and software of the existing ASIL B and on the premise of ensuring that functions safely meet the ASIL B, the higher speed drop of the AEB system is realized, so that greater benefits are brought to users.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of an automatic emergency braking control method according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an automatic emergency braking control method, which is characterized in that whether a collision risk exists in front of a vehicle is judged through a vehicle AEB system, when the collision risk exists in front of the vehicle, the AEB system determines a collision risk level, then a braking deceleration type is determined according to the determined collision risk level, finally, based on the determined braking deceleration type, a vehicle ESC braking system performs braking, different deceleration sizes are adopted for different braking deceleration types to limit the range of the maximum speed drop of the AEB system, and on the basis of hardware and software of the existing ASIL B and on the premise of ensuring that functions safely meet the ASIL B, higher speed drop of the AEB system is realized, so that greater benefits are brought to users. The embodiment of the invention correspondingly provides an automatic emergency braking control device.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
Referring to fig. 1, an automatic emergency braking control method provided in an embodiment of the present invention specifically includes the following steps:
s1: judging whether the front of the vehicle has a collision risk or not based on an AEB system of the vehicle; the method comprises the steps that whether collision risks exist in front of a vehicle is judged through an AEB system of the vehicle, a radar in the AEB system measures the distance between the vehicle and a front vehicle or an obstacle, the measured distance is compared with an alarm distance and a safety distance, and whether collision risks exist is judged based on the speed of the AEB system and the speed of the front vehicle.
S2: when collision risks exist in front of the vehicle, determining the collision risk level by the AEB system;
in the embodiment of the invention, when the AEB system automatically judges that the collision risk exists in front of the vehicle, the AEB system automatically determines the collision risk level. The Collision risk level is determined based on the Time-To-Collision (TTC) of the Collision Time and the current speed of the vehicle; the collision risk classes include a low collision risk class and a high collision risk class. Based on the TTC size of the collision time and the current speed of the vehicle, when the TTC size of the collision time meets a certain range and the current speed of the vehicle meets the certain range, the collision risk grade is a low collision risk grade; and when the TTC of the collision time meets a certain range and the current speed of the vehicle meets a certain range, the collision risk grade is a high collision risk grade.
S3: determining the type of braking deceleration according to the determined collision risk level; different braking deceleration types represent different decelerations, and the ESC braking system of the subsequent vehicle performs braking according to the deceleration corresponding to the braking deceleration type when the vehicle brakes.
S4: the vehicle ESC braking system performs braking based on the determined braking deceleration type. That is, when the ESC braking system of the vehicle brakes the vehicle, the braking is performed according to the deceleration corresponding to the braking deceleration type.
In the embodiment of the invention, the braking deceleration type comprises a partial emergency braking and a full force braking, and the deceleration of the partial emergency braking is smaller than a first preset deceleration; the deceleration of the full-force brake is larger than the second preset deceleration and smaller than the third preset deceleration. In particular, the deceleration of the partial emergency braking is less than 6m/s2The deceleration of the full-force brake is more than 8m/s2Less than 10m/s2。
In the embodiment of the invention, according to the determined collision risk level, the braking deceleration type is determined, specifically:
when the determined collision risk level is a low collision risk level, the determined braking deceleration type is partial emergency braking;
when the determined collision risk level is a high collision risk level, the determined type of braking deceleration is full force braking.
In the embodiment of the invention, according to the determined collision risk level, the braking deceleration type is determined, specifically:
judging whether the vehicle is in a high-speed running state or not based on the current speed of the vehicle:
if the vehicle is in a high-speed running state, determining that the type of braking deceleration is partial emergency braking;
and if the vehicle is not in a high-speed running state, determining that the braking deceleration type is partial emergency braking when the collision risk level is a low collision risk level, and determining that the braking deceleration type is full-force braking when the collision risk level is a high collision risk level. And when the current vehicle speed of the vehicle is greater than 85kph, determining that the vehicle is in a high-speed running state.
In the embodiment of the invention, based on the determined braking deceleration type, the ESC braking system of the vehicle executes braking, and the specific steps comprise:
s401: the vehicle AEB system sends a braking deceleration request to the ESC braking system according to the determined braking deceleration type;
s402: the ESC braking system receives the braking deceleration request and performs vehicle braking control according to the deceleration value corresponding to the braking deceleration type in the braking deceleration request.
In the embodiment of the present invention, the vehicle braking control is performed according to the deceleration value corresponding to the braking deceleration type in the braking deceleration request, specifically:
when the deceleration value in the braking deceleration request is less than the set value, the ESC braking system limits the maximum speed drop of the vehicle to be within 60 kph; the set value may be 7.5m/s2。
When the deceleration value in the braking deceleration request is greater than the set value, the ESC braking system limits the vehicle's maximum speed drop to within 45 kph.
The invention further breaks down the functional safety objective by the actual driving conditions, since the AEB system will be different in severity at different brake decelerations. When the deceleration is smaller, the reaction time of the rear vehicle increases, the severity decreases, the functional safety level decreases accordingly, and the permissible speed reduction may increase. Therefore, the invention limits the range of the maximum speed drop of the AEB system by different deceleration values, and compared with the traditional method of limiting the maximum speed drop distribution only according to the activation of the AEB system, the invention can ensure the functionOn the premise of safely meeting the ASIL B, the speed reduction of 60kph is realized. Specifically, 1, the braking deceleration of AEB is divided into two stages, namely partial emergency braking and full-force braking, wherein the deceleration of the partial emergency braking is less than 6m/s2The deceleration of the full-force brake is more than 8m/s2Less than 10m/s2(ii) a 2. When the requested braking deceleration of the AEB system is less than 7.5m/s2When the vehicle is running, the ESC braking system limits the maximum speed drop of the vehicle to be within 60 kph; 3. when the requested braking deceleration of the AEB system is greater than 7.5m/s2The ESC braking system limits the maximum speed drop of the vehicle to within 45 kph.
In practical application, for the speed drop control strategy based on the functional safety analysis, when the requested braking deceleration of the AEB system is less than 7.5m/s2When the maximum speed of the whole vehicle is reduced to within 60kph, the functional safety level is ASIL B; when the requested braking deceleration of the AEB system is greater than 7.5m/s2Then, within the range of the deceleration value, the maximum speed is reduced to 45kph, and the functional safety level ASILB is met; when the braking deceleration of the AEB system is less than 7.5m/s2And is then more than 7.5m/s2While ESC monitors the maximum speed drop of 60kph throughout AEB activation, and the slave deceleration once exceeds 7.5m/s2After (subsequent no-monitoring deceleration less than 7.5m/s2Condition) the maximum speed drops to 45 kph.
From a functional safety perspective alone, as the maximum speed drop of AEB is further increased, the boundary deceleration into ASIL C is further decreased, that is, as the deceleration of AEB is smaller, a greater speed drop can be obtained at the safety level of ASIL B. However, if the deceleration of the AEB is too low, which is equivalent to the AEB starting to brake at a time when the danger level is lower, more false triggering of the AEB may be caused, and braking may be performed within the driver-controllable range, which is not very beneficial to the driver.
For the automatic emergency braking control method of the present invention, after the AEB system determines that there is a risk of collision ahead, a request for braking deceleration is sent to the ESC braking system, which is related to the collision risk level and the current vehicle speed of the host vehicle. To make AEB satisfyThe functional safety requirement of the maximum speed drop of 60kph divides the control deceleration strategy of AEB into partial emergency braking and full force braking, and the deceleration of the partial emergency braking is controlled at 7.5m/s2The following. When the risk level is lower, the AEB system can execute partial emergency braking, and when the risk level is further improved, the AEB system can request full-force braking; and when the vehicle is running at high speed, the AEB only executes partial emergency braking. Therefore, by adopting the control method provided by the invention, the maximum speed of the AEB system can be reduced to 60kph on the premise of ensuring the functional safety ASILB. The method has the advantages that on the premise that the AEB system maintains the functional safety requirement of ASIL B, larger speed drop can be obtained, when the vehicle runs at high speed, the larger speed drop can give more reaction time to a driver, so that the vehicle can be connected, when the vehicle runs at low speed, according to data simulation analysis, the vehicle can be ensured to brake and avoid collision below 55kph when the vehicle per se drives a static target AEB, and the method has larger lifting compared with the conventional 45kph brake.
According to the automatic emergency braking control method, whether collision risks exist in front of a vehicle is judged through an AEB system of the vehicle, when the collision risks exist in front of the vehicle, the AEB system determines collision risk levels, then braking deceleration types are determined according to the determined collision risk levels, finally, based on the determined braking deceleration types, a vehicle ESC braking system performs braking, different deceleration sizes are adopted according to different braking deceleration types to limit the range of maximum speed reduction of the AEB system, and on the basis of hardware and software of the existing ASIL B and on the premise that functions are guaranteed to safely meet the ASIL B, higher speed reduction of the AEB system is achieved, so that greater benefits are brought to users.
Further, an embodiment of the present invention may also provide a readable storage medium, where the readable storage medium is located in the PLC controller, and the readable storage medium stores a computer program, where the computer program is executed by a processor to implement the steps of the automatic emergency braking control method.
The storage medium may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The embodiment of the invention provides an automatic emergency braking control device which comprises a judging module, a first determining module, a second determining module and an executing module.
The judgment module is used for driving the AEB system to judge whether the collision risk exists in front of the vehicle or not based on the AEB system of the vehicle; the first determining module is used for driving the AEB system to determine the collision risk level when the AEB system judges that the collision risk exists in front of the vehicle; the second determining module is used for determining the type of braking deceleration according to the collision risk level determined by the AEB system; the execution module is configured to actuate the vehicle ESC braking system to perform braking based on the determined type of braking deceleration.
In the embodiment of the invention, when the AEB system automatically judges that the collision risk exists in front of the vehicle, the AEB system automatically determines the collision risk level. The collision risk level is determined based on the TTC of the time of collision and the current speed of the vehicle; the collision risk classes include a low collision risk class and a high collision risk class. Based on the TTC size of the collision time and the current speed of the vehicle, when the TTC size of the collision time meets a certain range and the current speed of the vehicle meets the certain range, the collision risk grade is a low collision risk grade; and when the TTC of the collision time meets a certain range and the current speed of the vehicle meets a certain range, the collision risk grade is a high collision risk grade.
In the embodiment of the invention, the braking deceleration type comprises partial emergency braking and full force braking; the deceleration of the partial emergency brake is smaller than a first preset deceleration; the deceleration of the full-force brake is larger than the second preset deceleration and smaller than the third preset deceleration.
In the embodiment of the invention, according to the determined collision risk level, the braking deceleration type is determined, specifically:
when the determined collision risk level is a low collision risk level, the determined braking deceleration type is partial emergency braking;
when the determined collision risk level is a high collision risk level, the determined type of braking deceleration is full force braking.
In the embodiment of the invention, according to the determined collision risk level, the braking deceleration type is determined, specifically:
judging whether the vehicle is in a high-speed running state or not based on the current speed of the vehicle:
if the vehicle is in a high-speed running state, determining that the type of braking deceleration is partial emergency braking;
and if the vehicle is not in a high-speed running state, determining that the braking deceleration type is partial emergency braking when the collision risk level is a low collision risk level, and determining that the braking deceleration type is full-force braking when the collision risk level is a high collision risk level. And when the current vehicle speed of the vehicle is greater than 85kph, determining that the vehicle is in a high-speed running state.
In the embodiment of the invention, based on the determined braking deceleration type, the ESC braking system of the vehicle executes braking, and the specific process comprises the following steps:
the vehicle AEB system sends a braking deceleration request to the ESC braking system according to the determined braking deceleration type;
the ESC braking system receives the braking deceleration request and performs vehicle braking control according to the deceleration value corresponding to the braking deceleration type in the braking deceleration request.
In the embodiment of the present invention, the vehicle braking control is performed according to the deceleration value corresponding to the braking deceleration type in the braking deceleration request, specifically:
when the deceleration value in the braking deceleration request is less than the set value, the ESC braking system limits the maximum speed drop of the vehicle to be within 60 kph; the set value may be 7.5m/s2。
When the deceleration value in the braking deceleration request is greater than the set value, the ESC braking system limits the vehicle's maximum speed drop to within 45 kph.
The invention further breaks down the functional safety objective by the actual driving conditions, since the AEB system will be different in severity at different brake decelerations. When the deceleration is smaller, the reaction time of the rear vehicle increases, the severity decreases, the functional safety level decreases accordingly, and the permissible speed reduction may increase. Therefore, the invention limits the range of the maximum speed drop of the AEB system through different deceleration values, and compared with the traditional method of limiting the maximum speed drop distribution only according to the activation of the AEB system, the invention can realize the speed drop of 60kph on the premise of ensuring the functional safety to meet the ASIL B.
The automatic emergency braking control device of the embodiment of the invention judges whether the collision risk exists in front of the vehicle through the vehicle AEB system, when the collision risk exists in front of the vehicle, the AEB system determines the collision risk level, then determines the braking deceleration type according to the determined collision risk level, finally, based on the determined braking deceleration type, the vehicle ESC braking system performs braking, different deceleration sizes are adopted for different braking deceleration types to limit the range of the maximum speed drop of the AEB system, and on the basis of the hardware and software of the existing ASIL B and on the premise of ensuring that the function safely meets the ASIL B, the higher speed drop of the AEB system is realized, thereby bringing greater benefits to users.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111319666.XA CN113997911A (en) | 2021-11-09 | 2021-11-09 | A kind of automatic emergency braking control method and device |
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| CN115206133A (en) * | 2022-07-18 | 2022-10-18 | 岚图汽车科技有限公司 | Rear-end collision prevention emergency risk avoidance control method and system, electronic equipment and storage medium |
| CN118358533A (en) * | 2024-04-02 | 2024-07-19 | 岚图汽车科技有限公司 | Vehicle high-speed braking method, device, equipment and storage medium |
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Application publication date: 20220201 |